etherlabmaster: master/ioctl.c@6b21b3f88a9a (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) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* 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	8	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* 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	10	* modify it under the terms of the GNU General Public License version 2, as
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* published by the Free Software Foundation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	* 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	14	* 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	15	* 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	16	* Public License for more details.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	* 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	19	* with the IgH EtherCAT Master; if not, write to the Free Software
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
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	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* 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	25	* 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	26	* 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	27	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	/**
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	\file
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	EtherCAT master character device.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include <linux/module.h>
2483 ec53d873dc5e Added vmalloc() include fix for ARM architecture, thanks to Andrea Scian. Florian Pose <fp@igh-essen.com> parents: 2481 diff changeset	38	#include <linux/vmalloc.h>
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "master.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "slave_config.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "voe_handler.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "ethernet.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#include "ioctl.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	45
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	46	/** Set to 1 to enable ioctl() latency tracing.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	* Requires CPU timestamp counter!
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	50	#define DEBUG_LATENCY 0
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	51
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	52	#if 0
c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	53	#define ATTRIBUTES __attribute__ ((__noinline__))
c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	54	#else
c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	55	#define ATTRIBUTES
c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	56	#endif
c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	57
2433 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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	/** Copies a string to an ioctl structure.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	static void ec_ioctl_strcpy(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	char target, /< Target. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	const char source /< Source. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	if (source) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	strncpy(target, source, EC_IOCTL_STRING_SIZE);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	target[EC_IOCTL_STRING_SIZE - 1] = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	target[0] = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	74
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	76
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	/** Get module information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	79	static ATTRIBUTES int ec_ioctl_module(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	ec_ioctl_module_t data;
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	data.ioctl_version_magic = EC_IOCTL_VERSION_MAGIC;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	data.master_count = ec_master_count();
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	87
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	return -EFAULT;
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	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	93
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	95
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	/** Get master information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	98	static ATTRIBUTES int ec_ioctl_master(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	{
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	103	ec_ioctl_master_t io;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	104	unsigned int dev_idx, j;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	105
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	106	if (down_interruptible(&master->master_sem)) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	return -EINTR;
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	108	}
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	109
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	110	io.slave_count = master->slave_count;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	111	io.config_count = ec_master_config_count(master);
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	112	io.domain_count = ec_master_domain_count(master);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	#ifdef EC_EOE
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	114	io.eoe_handler_count = ec_master_eoe_handler_count(master);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	#endif
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	116	io.phase = (uint8_t) master->phase;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	117	io.active = (uint8_t) master->active;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	118	io.scan_busy = master->scan_busy;
2433 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	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	121
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	122	if (down_interruptible(&master->device_sem)) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	return -EINTR;
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	124	}
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	125
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	126	for (dev_idx = EC_DEVICE_MAIN;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	127	dev_idx < ec_master_num_devices(master); dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	128	ec_device_t *device = &master->devices[dev_idx];
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	129
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	if (device->dev) {
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	131	memcpy(io.devices[dev_idx].address, device->dev->dev_addr,
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	132	ETH_ALEN);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	} else {
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	134	memcpy(io.devices[dev_idx].address, master->macs[dev_idx],
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	135	ETH_ALEN);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	}
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	137	io.devices[dev_idx].attached = device->dev ? 1 : 0;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	138	io.devices[dev_idx].link_state = device->link_state ? 1 : 0;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	139	io.devices[dev_idx].tx_count = device->tx_count;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	140	io.devices[dev_idx].rx_count = device->rx_count;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	141	io.devices[dev_idx].tx_bytes = device->tx_bytes;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	142	io.devices[dev_idx].rx_bytes = device->rx_bytes;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	143	io.devices[dev_idx].tx_errors = device->tx_errors;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	for (j = 0; j < EC_RATE_COUNT; j++) {
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	145	io.devices[dev_idx].tx_frame_rates[j] =
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	device->tx_frame_rates[j];
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	147	io.devices[dev_idx].rx_frame_rates[j] =
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	device->rx_frame_rates[j];
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	149	io.devices[dev_idx].tx_byte_rates[j] =
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	device->tx_byte_rates[j];
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	151	io.devices[dev_idx].rx_byte_rates[j] =
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	device->rx_byte_rates[j];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	}
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	155	io.num_devices = ec_master_num_devices(master);
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	156
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	157	io.tx_count = master->device_stats.tx_count;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	158	io.rx_count = master->device_stats.rx_count;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	159	io.tx_bytes = master->device_stats.tx_bytes;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	160	io.rx_bytes = master->device_stats.rx_bytes;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	161	for (j = 0; j < EC_RATE_COUNT; j++) {
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	162	io.tx_frame_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	163	master->device_stats.tx_frame_rates[j];
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	164	io.rx_frame_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	165	master->device_stats.rx_frame_rates[j];
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	166	io.tx_byte_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	167	master->device_stats.tx_byte_rates[j];
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	168	io.rx_byte_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	169	master->device_stats.rx_byte_rates[j];
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	170	io.loss_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	171	master->device_stats.loss_rates[j];
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	172	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	173
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	up(&master->device_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	175
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	176	io.app_time = master->app_time;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	177	io.ref_clock =
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	179
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	180	if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	181	return -EFAULT;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	182	}
2433 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	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	186
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	188
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	/** Get slave information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	191	static ATTRIBUTES int ec_ioctl_slave(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	192	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	ec_ioctl_slave_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	int i;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	199
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	203
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	206
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	master, 0, data.position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	EC_MASTER_ERR(master, "Slave %u does not exist!\n", data.position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	213
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	data.device_index = slave->device_index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	data.vendor_id = slave->sii.vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	data.product_code = slave->sii.product_code;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	data.revision_number = slave->sii.revision_number;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	data.serial_number = slave->sii.serial_number;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	219	data.alias = slave->effective_alias;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	221	data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	223	data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	data.mailbox_protocols = slave->sii.mailbox_protocols;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	data.has_general_category = slave->sii.has_general;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	data.coe_details = slave->sii.coe_details;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	data.general_flags = slave->sii.general_flags;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	data.current_on_ebus = slave->sii.current_on_ebus;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	for (i = 0; i < EC_MAX_PORTS; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	234	data.ports[i].desc = slave->ports[i].desc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	data.ports[i].link.link_up = slave->ports[i].link.link_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	237	data.ports[i].link.signal_detected =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	slave->ports[i].link.signal_detected;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	data.ports[i].receive_time = slave->ports[i].receive_time;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	240	if (slave->ports[i].next_slave) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	data.ports[i].next_slave =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	242	slave->ports[i].next_slave->ring_position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	243	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	data.ports[i].next_slave = 0xffff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	245	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	data.ports[i].delay_to_next_dc = slave->ports[i].delay_to_next_dc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	248	data.fmmu_bit = slave->base_fmmu_bit_operation;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	data.dc_supported = slave->base_dc_supported;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	data.dc_range = slave->base_dc_range;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	data.has_dc_system_time = slave->has_dc_system_time;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	data.transmission_delay = slave->transmission_delay;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	data.al_state = slave->current_state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	254	data.error_flag = slave->error_flag;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	255
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	256	data.sync_count = slave->sii.sync_count;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	data.sdo_count = ec_slave_sdo_count(slave);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	258	data.sii_nwords = slave->sii_nwords;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	ec_ioctl_strcpy(data.group, slave->sii.group);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	ec_ioctl_strcpy(data.image, slave->sii.image);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	ec_ioctl_strcpy(data.order, slave->sii.order);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	ec_ioctl_strcpy(data.name, slave->sii.name);
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	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	265
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	268
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	return 0;
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	/** Get slave sync manager information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	276	static ATTRIBUTES int ec_ioctl_slave_sync(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	ec_ioctl_slave_sync_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	const ec_sync_t *sync;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	284
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	288
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	291
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	295	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	296	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	297	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	299
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	300	if (data.sync_index >= slave->sii.sync_count) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	305	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	306
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	307	sync = &slave->sii.syncs[data.sync_index];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	308
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	data.physical_start_address = sync->physical_start_address;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	data.default_size = sync->default_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	data.control_register = sync->control_register;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	312	data.enable = sync->enable;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	data.pdo_count = ec_pdo_list_count(&sync->pdos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	314
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	315	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	316
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	319
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	322
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	323	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	324
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	325	/** Get slave sync manager PDO information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	327	static ATTRIBUTES int ec_ioctl_slave_sync_pdo(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	329	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	330	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	331	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	ec_ioctl_slave_sync_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	333	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	const ec_sync_t *sync;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	336
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	337	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	338	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	340
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	343
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	344	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	350	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	351
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	if (data.sync_index >= slave->sii.sync_count) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	354	EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	356	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	358
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	359	sync = &slave->sii.syncs[data.sync_index];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	360	if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	361	&sync->pdos, data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	362	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	363	EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with "
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	364	"position %u!\n", data.sync_index, data.pdo_pos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	365	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	366	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	367
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	368	data.index = pdo->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	369	data.entry_count = ec_pdo_entry_count(pdo);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	370	ec_ioctl_strcpy(data.name, pdo->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	371
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	372	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	373
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	374	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	375	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	376
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	377	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	378	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	379
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	380	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	381
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	382	/** Get slave sync manager PDO entry information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	383	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	384	static ATTRIBUTES int ec_ioctl_slave_sync_pdo_entry(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	385	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	386	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	387	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	388	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	389	ec_ioctl_slave_sync_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	390	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	391	const ec_sync_t *sync;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	392	const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	393	const ec_pdo_entry_t *entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	394
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	395	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	396	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	398
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	399	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	400	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	401
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	402	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	404	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	405	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	406	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	407	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	408	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	409
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	410	if (data.sync_index >= slave->sii.sync_count) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	411	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	412	EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	413	data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	414	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	415	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	416
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	417	sync = &slave->sii.syncs[data.sync_index];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	418	if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	419	&sync->pdos, data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	420	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	421	EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with "
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	422	"position %u!\n", data.sync_index, data.pdo_pos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	423	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	424	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	425
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	426	if (!(entry = ec_pdo_find_entry_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	427	pdo, data.entry_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	428	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	429	EC_SLAVE_ERR(slave, "PDO 0x%04X does not contain an entry with "
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	430	"position %u!\n", data.pdo_pos, data.entry_pos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	431	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	432	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	434	data.index = entry->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	435	data.subindex = entry->subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	436	data.bit_length = entry->bit_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	437	ec_ioctl_strcpy(data.name, entry->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	438
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	439	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	440
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	441	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	442	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	443
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	444	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	445	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	446
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	447	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	448
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	449	/** Get domain information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	450	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	451	static ATTRIBUTES int ec_ioctl_domain(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	452	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	453	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	454	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	455	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	456	ec_ioctl_domain_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	457	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	458	unsigned int dev_idx;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	459
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	460	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	461	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	462	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	463
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	464	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	465	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	466
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	467	if (!(domain = ec_master_find_domain_const(master, data.index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	468	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	469	EC_MASTER_ERR(master, "Domain %u does not exist!\n", data.index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	470	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	471	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	472
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	473	data.data_size = domain->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	474	data.logical_base_address = domain->logical_base_address;
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	475	for (dev_idx = EC_DEVICE_MAIN;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	476	dev_idx < ec_master_num_devices(domain->master); dev_idx++) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	477	data.working_counter[dev_idx] = domain->working_counter[dev_idx];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	478	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	479	data.expected_working_counter = domain->expected_working_counter;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	480	data.fmmu_count = ec_domain_fmmu_count(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	481
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	482	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	483
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	484	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	485	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	486
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	487	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	488	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	489
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	490	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	491
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	492	/** Get domain FMMU information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	493	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	494	static ATTRIBUTES int ec_ioctl_domain_fmmu(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	495	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	496	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	497	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	498	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	499	ec_ioctl_domain_fmmu_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	500	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	501	const ec_fmmu_config_t *fmmu;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	502
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	503	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	504	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	505	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	506
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	507	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	508	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	509
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	510	if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	511	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	512	EC_MASTER_ERR(master, "Domain %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	513	data.domain_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	514	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	515	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	516
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	517	if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	518	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	519	EC_MASTER_ERR(master, "Domain %u has less than %u"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	520	" fmmu configurations.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	521	data.domain_index, data.fmmu_index + 1);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	522	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	523	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	524
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	525	data.slave_config_alias = fmmu->sc->alias;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	526	data.slave_config_position = fmmu->sc->position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	527	data.sync_index = fmmu->sync_index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	528	data.dir = fmmu->dir;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	529	data.logical_address = fmmu->logical_start_address;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	530	data.data_size = fmmu->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	531
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	532	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	533
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	534	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	535	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	536
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	537	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	538	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	539
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	540	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	541
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	542	/** Get domain data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	543	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	544	static ATTRIBUTES int ec_ioctl_domain_data(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	545	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	546	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	547	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	548	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	549	ec_ioctl_domain_data_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	550	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	551
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	552	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	553	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	554	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	555
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	556	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	557	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	558
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	559	if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	560	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	561	EC_MASTER_ERR(master, "Domain %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	562	data.domain_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	563	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	564	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	565
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	566	if (domain->data_size != data.data_size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	567	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	568	EC_MASTER_ERR(master, "Data size mismatch %u/%zu!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	569	data.data_size, domain->data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	570	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	571	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	572
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	573	if (copy_to_user((void __user *) data.target, domain->data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	574	domain->data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	575	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	576	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	577	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	578
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	579	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	580	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	581	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	582
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	583	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	584
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	585	/** Set master debug level.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	586	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	587	static ATTRIBUTES int ec_ioctl_master_debug(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	588	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	589	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	590	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	591	{
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2486 diff changeset	592	return ec_master_debug_level(master, (unsigned long) arg);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	593	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	594
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	595	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	596
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	597	/** Issue a bus scan.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	598	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	599	static ATTRIBUTES int ec_ioctl_master_rescan(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	600	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	601	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	602	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	603	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	604	master->fsm.rescan_required = 1;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	605	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	606	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	607
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	608	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	609
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	610	/** Set slave state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	611	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	612	static ATTRIBUTES int ec_ioctl_slave_state(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	613	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	614	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	615	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	616	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	617	ec_ioctl_slave_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	618	ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	619
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	620	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	621	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	622	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	623
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	624	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	625	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	626
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	627	if (!(slave = ec_master_find_slave(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	628	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	629	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	630	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	631	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	632	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	633	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	634
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	635	ec_slave_request_state(slave, data.al_state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	636
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	637	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	638	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	639	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	640
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	641	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	642
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	643	/** Get slave SDO information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	644	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	645	static ATTRIBUTES int ec_ioctl_slave_sdo(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	646	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	647	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	648	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	649	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	650	ec_ioctl_slave_sdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	651	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	652	const ec_sdo_t *sdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	653
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	654	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	655	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	656	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	657
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	658	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	659	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	660
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	661	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	662	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	663	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	664	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	665	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	666	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	667	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	668
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	669	if (!(sdo = ec_slave_get_sdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	670	slave, data.sdo_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	671	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	672	EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", data.sdo_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	673	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	674	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	675
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	676	data.sdo_index = sdo->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	677	data.max_subindex = sdo->max_subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	678	ec_ioctl_strcpy(data.name, sdo->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	679
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	680	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	681
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	682	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	683	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	684
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	685	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	686	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	687
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	688	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	689
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	690	/** Get slave SDO entry information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	691	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	692	static ATTRIBUTES int ec_ioctl_slave_sdo_entry(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	693	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	694	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	695	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	696	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	697	ec_ioctl_slave_sdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	698	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	699	const ec_sdo_t *sdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	700	const ec_sdo_entry_t *entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	701
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	702	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	703	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	704	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	705
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	706	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	707	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	708
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	709	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	710	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	711	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	712	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	713	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	714	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	715	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	716
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	717	if (data.sdo_spec <= 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	718	if (!(sdo = ec_slave_get_sdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	719	slave, -data.sdo_spec))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	720	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	721	EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", -data.sdo_spec);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	722	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	723	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	724	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	725	if (!(sdo = ec_slave_get_sdo_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	726	slave, data.sdo_spec))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	727	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	728	EC_SLAVE_ERR(slave, "SDO 0x%04X does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	729	data.sdo_spec);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	730	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	731	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	732	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	733
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	734	if (!(entry = ec_sdo_get_entry_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	735	sdo, data.sdo_entry_subindex))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	736	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	737	EC_SLAVE_ERR(slave, "SDO entry 0x%04X:%02X does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	738	sdo->index, data.sdo_entry_subindex);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	739	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	740	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	741
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	742	data.data_type = entry->data_type;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	743	data.bit_length = entry->bit_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	744	data.read_access[EC_SDO_ENTRY_ACCESS_PREOP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	745	entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	746	data.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	747	entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	748	data.read_access[EC_SDO_ENTRY_ACCESS_OP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	749	entry->read_access[EC_SDO_ENTRY_ACCESS_OP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	750	data.write_access[EC_SDO_ENTRY_ACCESS_PREOP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	751	entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	752	data.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	753	entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	754	data.write_access[EC_SDO_ENTRY_ACCESS_OP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	755	entry->write_access[EC_SDO_ENTRY_ACCESS_OP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	756	ec_ioctl_strcpy(data.description, entry->description);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	757
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	758	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	759
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	760	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	761	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	762
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	763	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	764	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	765
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	766	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	767
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	768	/** Upload SDO.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	769	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	770	static ATTRIBUTES int ec_ioctl_slave_sdo_upload(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	771	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	772	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	773	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	774	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	775	ec_ioctl_slave_sdo_upload_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	776	uint8_t *target;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	777	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	778
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	779	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	780	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	781	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	782
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	783	if (!(target = kmalloc(data.target_size, GFP_KERNEL))) {
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2486 diff changeset	784	EC_MASTER_ERR(master, "Failed to allocate %zu bytes"
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	785	" for SDO upload.\n", data.target_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	786	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	787	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	788
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	789	ret = ecrt_master_sdo_upload(master, data.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	790	data.sdo_index, data.sdo_entry_subindex, target,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	791	data.target_size, &data.data_size, &data.abort_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	792
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	793	if (!ret) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	794	if (copy_to_user((void __user *) data.target,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	795	target, data.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	796	kfree(target);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	797	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	798	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	799	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	800
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	801	kfree(target);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	802
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	803	if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	804	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	805	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	806
2474 fb2fe8fae501 Fixed some ioctl() return values. Florian Pose <fp@igh-essen.com> parents: 2467 diff changeset	807	return ret;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	808	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	809
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	810	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	811
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	812	/** Download SDO.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	813	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	814	static ATTRIBUTES int ec_ioctl_slave_sdo_download(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	815	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	816	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	817	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	818	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	819	ec_ioctl_slave_sdo_download_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	820	uint8_t *sdo_data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	821	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	822
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	823	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	824	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	825	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	826
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	827	if (!(sdo_data = kmalloc(data.data_size, GFP_KERNEL))) {
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2486 diff changeset	828	EC_MASTER_ERR(master, "Failed to allocate %zu bytes"
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	829	" for SDO download.\n", data.data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	830	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	831	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	832
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	833	if (copy_from_user(sdo_data, (void __user *) data.data, data.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	834	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	835	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	836	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	837
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	838	if (data.complete_access) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	839	retval = ecrt_master_sdo_download_complete(master, data.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	840	data.sdo_index, sdo_data, data.data_size, &data.abort_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	841	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	842	retval = ecrt_master_sdo_download(master, data.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	843	data.sdo_index, data.sdo_entry_subindex, sdo_data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	844	data.data_size, &data.abort_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	845	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	846
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	847	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	848
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	849	if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	850	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	851	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	852
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	853	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	854	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	855
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	856	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	857
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	858	/** Read a slave's SII.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	859	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	860	static ATTRIBUTES int ec_ioctl_slave_sii_read(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	861	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	862	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	863	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	864	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	865	ec_ioctl_slave_sii_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	866	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	867	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	868
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	869	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	870	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	871	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	872
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	873	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	874	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	875
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	876	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	877	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	878	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	879	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	880	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	881	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	882	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	883
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	884	if (!data.nwords
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	885	\|\| data.offset + data.nwords > slave->sii_nwords) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	886	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	887	EC_SLAVE_ERR(slave, "Invalid SII read offset/size %u/%u for slave SII"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	888	" size %zu!\n", data.offset, data.nwords, slave->sii_nwords);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	889	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	890	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	891
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	892	if (copy_to_user((void __user *) data.words,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	893	slave->sii_words + data.offset, data.nwords * 2))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	894	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	895	else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	896	retval = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	897
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	898	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	899	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	900	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	901
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	902	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	903
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	904	/** Write a slave's SII.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	905	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	906	static ATTRIBUTES int ec_ioctl_slave_sii_write(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	907	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	908	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	909	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	910	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	911	ec_ioctl_slave_sii_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	912	ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	913	unsigned int byte_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	914	uint16_t *words;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	915	ec_sii_write_request_t request;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	916
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	917	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	918	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	919	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	920
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	921	if (!data.nwords) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	922	return 0;
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	923	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	924
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	925	byte_size = sizeof(uint16_t) * data.nwords;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	926	if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	927	EC_MASTER_ERR(master, "Failed to allocate %u bytes"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	928	" for SII contents.\n", byte_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	929	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	930	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	931
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	932	if (copy_from_user(words,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	933	(void __user *) data.words, byte_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	934	kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	935	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	936	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	937
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	938	if (down_interruptible(&master->master_sem)) {
74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	939	kfree(words);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	940	return -EINTR;
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	941	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	942
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	943	if (!(slave = ec_master_find_slave(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	944	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	945	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	946	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	947	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	948	kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	949	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	950	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	951
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	952	// init SII write request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	953	INIT_LIST_HEAD(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	954	request.slave = slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	955	request.words = words;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	956	request.offset = data.offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	957	request.nwords = data.nwords;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	958	request.state = EC_INT_REQUEST_QUEUED;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	959
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	960	// schedule SII write request.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	961	list_add_tail(&request.list, &master->sii_requests);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	962
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	963	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	964
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	965	// wait for processing through FSM
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	966	if (wait_event_interruptible(master->request_queue,
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	967	request.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	968	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	969	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	970	if (request.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	971	// abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	972	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	973	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	974	kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	975	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	976	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	977	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	978	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	979
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	980	// wait until master FSM has finished processing
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	981	wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	982
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	983	kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	984
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	985	return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	986	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	987
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	988	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	989
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	990	/** Read a slave's registers.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	991	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	992	static ATTRIBUTES int ec_ioctl_slave_reg_read(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	993	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	994	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	995	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	996	{
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	997	ec_ioctl_slave_reg_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	998	ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	999	ec_reg_request_t request;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1000	int ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1001
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1002	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1003	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1004	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1005
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1006	if (!io.size) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1007	return 0;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1008	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1009
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1010	// init register request
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1011	ret = ec_reg_request_init(&request, io.size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1012	if (ret) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1013	return ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1014	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1015
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1016	ecrt_reg_request_read(&request, io.address, io.size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1017
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1018	if (down_interruptible(&master->master_sem)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1019	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1020	return -EINTR;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1021	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1022
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1023	if (!(slave = ec_master_find_slave(
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1024	master, 0, io.slave_position))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1025	up(&master->master_sem);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1026	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1027	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1028	io.slave_position);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1029	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1030	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1031
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1032	// schedule request.
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1033	list_add_tail(&request.list, &slave->reg_requests);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1034
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1035	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1036
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1037	// wait for processing through FSM
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	1038	if (wait_event_interruptible(master->request_queue,
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1039	request.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1040	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1041	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1042	if (request.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1043	// abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1044	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1045	up(&master->master_sem);
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1046	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1047	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1048	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1049	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1050	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1051
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1052	// wait until master FSM has finished processing
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	1053	wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1054
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1055	if (request.state == EC_INT_REQUEST_SUCCESS) {
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1056	if (copy_to_user((void __user *) io.data, request.data, io.size)) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1057	return -EFAULT;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1058	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1059	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1060	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1061
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1062	return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1063	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1064
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1065	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1066
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1067	/** Write a slave's registers.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1068	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1069	static ATTRIBUTES int ec_ioctl_slave_reg_write(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1070	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1071	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1072	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1073	{
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1074	ec_ioctl_slave_reg_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1075	ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1076	ec_reg_request_t request;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1077	int ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1078
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1079	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1080	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1081	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1082
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1083	if (!io.size) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1084	return 0;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1085	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1086
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1087	// init register request
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1088	ret = ec_reg_request_init(&request, io.size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1089	if (ret) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1090	return ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1091	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1092
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1093	if (copy_from_user(request.data, (void __user *) io.data, io.size)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1094	ec_reg_request_clear(&request);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1095	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1096	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1097
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1098	ecrt_reg_request_write(&request, io.address, io.size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1099
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1100	if (down_interruptible(&master->master_sem)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1101	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1102	return -EINTR;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1103	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1104
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	1105	if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) {
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1106	up(&master->master_sem);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1107	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1108	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1109	io.slave_position);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1110	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1111	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1112
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1113	// schedule request.
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1114	list_add_tail(&request.list, &slave->reg_requests);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1115
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1116	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1117
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1118	// wait for processing through FSM
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	1119	if (wait_event_interruptible(master->request_queue,
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1120	request.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1121	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1122	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1123	if (request.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1124	// abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1125	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1126	up(&master->master_sem);
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1127	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1128	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1129	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1130	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1131	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1132
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1133	// wait until master FSM has finished processing
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	1134	wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1135
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1136	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1137
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1138	return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1139	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1140
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1141	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1142
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1143	/** Get slave configuration information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1144	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1145	static ATTRIBUTES int ec_ioctl_config(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1146	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1147	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1148	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1149	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1150	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1151	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1152	uint8_t i;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1153
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1154	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1155	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1156	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1157
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1158	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1159	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1160
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1161	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1162	master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1163	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1164	EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1165	data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1166	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1167	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1168
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1169	data.alias = sc->alias;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1170	data.position = sc->position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1171	data.vendor_id = sc->vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1172	data.product_code = sc->product_code;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1173	for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1174	data.syncs[i].dir = sc->sync_configs[i].dir;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1175	data.syncs[i].watchdog_mode = sc->sync_configs[i].watchdog_mode;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1176	data.syncs[i].pdo_count =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1177	ec_pdo_list_count(&sc->sync_configs[i].pdos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1178	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1179	data.watchdog_divider = sc->watchdog_divider;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1180	data.watchdog_intervals = sc->watchdog_intervals;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1181	data.sdo_count = ec_slave_config_sdo_count(sc);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1182	data.idn_count = ec_slave_config_idn_count(sc);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1183	data.slave_position = sc->slave ? sc->slave->ring_position : -1;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1184	data.dc_assign_activate = sc->dc_assign_activate;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1185	for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1186	data.dc_sync[i] = sc->dc_sync[i];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1187	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1188
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1189	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1190
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1191	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1192	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1193
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1194	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1195	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1196
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1197	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1198
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1199	/** Get slave configuration PDO information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1200	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1201	static ATTRIBUTES int ec_ioctl_config_pdo(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1202	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1203	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1204	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1205	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1206	ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1207	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1208	const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1209
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1210	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1211	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1212	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1213
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1214	if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1215	EC_MASTER_ERR(master, "Invalid sync manager index %u!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1216	data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1217	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1218	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1219
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1220	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1221	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1222
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1223	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1224	master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1225	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1226	EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1227	data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1228	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1229	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1230
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1231	if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1232	&sc->sync_configs[data.sync_index].pdos,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1233	data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1234	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1235	EC_MASTER_ERR(master, "Invalid PDO position!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1236	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1237	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1238
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1239	data.index = pdo->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1240	data.entry_count = ec_pdo_entry_count(pdo);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1241	ec_ioctl_strcpy(data.name, pdo->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1242
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1243	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1244
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1245	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1246	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1247
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1248	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1249	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1250
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1251	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1252
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1253	/** Get slave configuration PDO entry information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1254	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1255	static ATTRIBUTES int ec_ioctl_config_pdo_entry(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1256	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1257	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1258	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1259	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1260	ec_ioctl_config_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1261	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1262	const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1263	const ec_pdo_entry_t *entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1264
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1265	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1266	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1267	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1268
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1269	if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1270	EC_MASTER_ERR(master, "Invalid sync manager index %u!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1271	data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1272	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1273	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1274
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1275	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1276	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1277
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1278	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1279	master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1280	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1281	EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1282	data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1283	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1284	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1285
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1286	if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1287	&sc->sync_configs[data.sync_index].pdos,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1288	data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1289	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1290	EC_MASTER_ERR(master, "Invalid PDO position!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1291	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1292	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1293
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1294	if (!(entry = ec_pdo_find_entry_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1295	pdo, data.entry_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1296	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1297	EC_MASTER_ERR(master, "Entry not found!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1298	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1299	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1300
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1301	data.index = entry->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1302	data.subindex = entry->subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1303	data.bit_length = entry->bit_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1304	ec_ioctl_strcpy(data.name, entry->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1305
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1306	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1307
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1308	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1309	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1310
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1311	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1312	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1313
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1314	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1315
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1316	/** Get slave configuration SDO information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1317	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1318	static ATTRIBUTES int ec_ioctl_config_sdo(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1319	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1320	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1321	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1322	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1323	ec_ioctl_config_sdo_t *ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1324	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1325	const ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1326
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1327	if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1328	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1329	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1330
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1331	if (copy_from_user(ioctl, (void __user ) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1332	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1333	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1334	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1335
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1336	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1337	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1338	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1339	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1340
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1341	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1342	master, ioctl->config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1343	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1344	EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1345	ioctl->config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1346	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1347	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1348	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1349
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1350	if (!(req = ec_slave_config_get_sdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1351	sc, ioctl->sdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1352	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1353	EC_MASTER_ERR(master, "Invalid SDO position!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1354	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1355	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1356	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1357
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1358	ioctl->index = req->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1359	ioctl->subindex = req->subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1360	ioctl->size = req->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1361	memcpy(ioctl->data, req->data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1362	min((u32) ioctl->size, (u32) EC_MAX_SDO_DATA_SIZE));
2435 4151f6f4c3e1 Show complete access flag in config view. Florian Pose <fp@igh-essen.com> parents: 2434 diff changeset	1363	ioctl->complete_access = req->complete_access;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1364
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1365	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1366
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1367	if (copy_to_user((void __user ) arg, ioctl, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1368	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1369	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1370	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1371
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1372	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1373	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1374	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1375
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1376	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1377
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1378	/** Get slave configuration IDN information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1379	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1380	static ATTRIBUTES int ec_ioctl_config_idn(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1381	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1382	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1383	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1384	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1385	ec_ioctl_config_idn_t *ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1386	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1387	const ec_soe_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1388
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1389	if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1390	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1391	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1392
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1393	if (copy_from_user(ioctl, (void __user ) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1394	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1395	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1396	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1397
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1398	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1399	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1400	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1401	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1402
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1403	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1404	master, ioctl->config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1405	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1406	EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1407	ioctl->config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1408	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1409	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1410	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1411
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1412	if (!(req = ec_slave_config_get_idn_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1413	sc, ioctl->idn_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1414	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1415	EC_MASTER_ERR(master, "Invalid IDN position!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1416	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1417	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1418	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1419
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1420	ioctl->drive_no = req->drive_no;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1421	ioctl->idn = req->idn;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1422	ioctl->state = req->state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1423	ioctl->size = req->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1424	memcpy(ioctl->data, req->data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1425	min((u32) ioctl->size, (u32) EC_MAX_IDN_DATA_SIZE));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1426
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1427	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1428
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1429	if (copy_to_user((void __user ) arg, ioctl, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1430	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1431	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1432	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1434	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1435	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1436	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1437
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1438	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1439
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1440	#ifdef EC_EOE
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1441
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1442	/** Get EoE handler information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1443	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1444	static ATTRIBUTES int ec_ioctl_eoe_handler(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1445	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1446	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1447	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1448	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1449	ec_ioctl_eoe_handler_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1450	const ec_eoe_t *eoe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1451
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1452	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1453	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1454	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1455
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1456	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1457	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1458
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1459	if (!(eoe = ec_master_get_eoe_handler_const(master, data.eoe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1460	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1461	EC_MASTER_ERR(master, "EoE handler %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1462	data.eoe_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1463	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1464	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1465
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1466	if (eoe->slave) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1467	data.slave_position = eoe->slave->ring_position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1468	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1469	data.slave_position = 0xffff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1470	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1471	snprintf(data.name, EC_DATAGRAM_NAME_SIZE, eoe->dev->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1472	data.open = eoe->opened;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1473	data.rx_bytes = eoe->stats.tx_bytes;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1474	data.rx_rate = eoe->tx_rate;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1475	data.tx_bytes = eoe->stats.rx_bytes;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1476	data.tx_rate = eoe->tx_rate;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1477	data.tx_queued_frames = eoe->tx_queued_frames;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1478	data.tx_queue_size = eoe->tx_queue_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1479
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1480	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1481
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1482	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1483	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1484
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1485	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1486	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1487
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1488	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1489
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1490	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1491
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1492	/** Request the master from userspace.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1493	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1494	static ATTRIBUTES int ec_ioctl_request(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1495	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1496	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1497	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1498	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1499	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1500	ec_master_t *m;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1501	int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1502
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1503	m = ecrt_request_master_err(master->index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1504	if (IS_ERR(m)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1505	ret = PTR_ERR(m);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1506	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1507	ctx->requested = 1;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1508	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1509
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1510	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1511	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1512
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1513	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1514
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1515	/** Create a domain.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1516	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1517	static ATTRIBUTES int ec_ioctl_create_domain(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1518	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1519	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1520	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1521	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1522	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1523	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1524
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1525	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1526	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1527
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1528	domain = ecrt_master_create_domain_err(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1529	if (IS_ERR(domain))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1530	return PTR_ERR(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1531
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1532	return domain->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1533	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1534
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1535	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1536
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1537	/** Create a slave configuration.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1538	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1539	static ATTRIBUTES int ec_ioctl_create_slave_config(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1540	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1541	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1542	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1543	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1544	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1545	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1546	ec_slave_config_t sc, entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1547
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1548	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1549	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1550
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1551	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1552	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1553	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1554
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1555	sc = ecrt_master_slave_config_err(master, data.alias, data.position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1556	data.vendor_id, data.product_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1557	if (IS_ERR(sc))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1558	return PTR_ERR(sc);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1559
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1560	data.config_index = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1561
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1562	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1563	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1564
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1565	list_for_each_entry(entry, &master->configs, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1566	if (entry == sc)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1567	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1568	data.config_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1569	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1570
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1571	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1572
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1573	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1574	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1575
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1576	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1577	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1578
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1579	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1580
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1581	/** Select the DC reference clock.
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1582	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1583	static ATTRIBUTES int ec_ioctl_select_ref_clock(
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1584	ec_master_t master, /< EtherCAT master. /
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1585	void arg, /< ioctl() argument. /
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1586	ec_ioctl_context_t ctx /< Private data structure of file handle. /
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1587	)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1588	{
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2486 diff changeset	1589	unsigned long config_index = (unsigned long) arg;
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1590	ec_slave_config_t *sc = NULL;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1591	int ret = 0;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1592
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1593	if (unlikely(!ctx->requested)) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1594	ret = -EPERM;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1595	goto out_return;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1596	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1597
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1598	if (down_interruptible(&master->master_sem)) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1599	ret = -EINTR;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1600	goto out_return;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1601	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1602
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1603	if (config_index != 0xFFFFFFFF) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1604	if (!(sc = ec_master_get_config(master, config_index))) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1605	ret = -ENOENT;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1606	goto out_up;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1607	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1608	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1609
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1610	ecrt_master_select_reference_clock(master, sc);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1611
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1612	out_up:
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1613	up(&master->master_sem);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1614	out_return:
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1615	return ret;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1616	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1617
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1618	/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1619
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1620	/** Activates the master.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1621	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1622	static ATTRIBUTES int ec_ioctl_activate(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1623	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1624	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1625	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1626	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1627	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1628	ec_ioctl_master_activate_t io;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1629	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1630	off_t offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1631	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1632
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1633	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1634	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1635
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1636	io.process_data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1637
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1638	/* Get the sum of the domains' process data sizes. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1639
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1640	ctx->process_data_size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1641
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1642	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1643	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1644
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1645	list_for_each_entry(domain, &master->domains, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1646	ctx->process_data_size += ecrt_domain_size(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1647	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1648
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1649	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1650
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1651	if (ctx->process_data_size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1652	ctx->process_data = vmalloc(ctx->process_data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1653	if (!ctx->process_data) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1654	ctx->process_data_size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1655	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1656	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1657
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1658	/* Set the memory as external process data memory for the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1659	* domains.
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1660	*/
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1661	offset = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1662	list_for_each_entry(domain, &master->domains, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1663	ecrt_domain_external_memory(domain,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1664	ctx->process_data + offset);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1665	offset += ecrt_domain_size(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1666	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1667
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1668	#ifdef EC_IOCTL_RTDM
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1669	/* RTDM uses a different approach for memory-mapping, which has to be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1670	* initiated by the kernel.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1671	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1672	ret = ec_rtdm_mmap(ctx, &io.process_data);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1673	if (ret < 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1674	EC_MASTER_ERR(master, "Failed to map process data"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1675	" memory to user space (code %i).\n", ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1676	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1677	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1678	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1679	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1680
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1681	io.process_data_size = ctx->process_data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1682
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1683	#ifndef EC_IOCTL_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1684	ecrt_master_callbacks(master, ec_master_internal_send_cb,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1685	ec_master_internal_receive_cb, master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1686	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1687
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1688	ret = ecrt_master_activate(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1689	if (ret < 0)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1690	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1691
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1692	if (copy_to_user((void __user *) arg, &io,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1693	sizeof(ec_ioctl_master_activate_t)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1694	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1695
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1696	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1697	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1698
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1699	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1700
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1701	/** Deactivates the master.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1702	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1703	static ATTRIBUTES int ec_ioctl_deactivate(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1704	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1705	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1706	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1707	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1708	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1709	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1710	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1711
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1712	ecrt_master_deactivate(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1713	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1714	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1715
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1716	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1717
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1718	/** Set max. number of databytes in a cycle
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1719	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1720	static ATTRIBUTES int ec_ioctl_set_send_interval(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1721	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1722	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1723	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1724	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1725	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1726	size_t send_interval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1727
2477 1d5ebfb7fec1 Fixed some ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 2474 diff changeset	1728	if (unlikely(!ctx->requested)) {
1d5ebfb7fec1 Fixed some ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 2474 diff changeset	1729	return -EPERM;
1d5ebfb7fec1 Fixed some ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 2474 diff changeset	1730	}
1d5ebfb7fec1 Fixed some ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 2474 diff changeset	1731
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1732	if (copy_from_user(&send_interval, (void __user *) arg,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1733	sizeof(send_interval))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1734	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1735	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1736
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1737	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1738	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1739
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1740	ec_master_set_send_interval(master, send_interval);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1741
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1742	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1743	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1744	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1745
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1746	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1747
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1748	/** Send frames.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1749	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1750	static ATTRIBUTES int ec_ioctl_send(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1751	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1752	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1753	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1754	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1755	{
2498 9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1756	if (unlikely(!ctx->requested)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1757	return -EPERM;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1758	}
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1759
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1760	ecrt_master_send(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1761	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1762	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1763
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1764	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1765
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1766	/** Receive frames.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1767	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1768	static ATTRIBUTES int ec_ioctl_receive(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1769	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1770	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1771	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1772	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1773	{
2498 9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1774	if (unlikely(!ctx->requested)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1775	return -EPERM;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1776	}
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1777
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1778	ecrt_master_receive(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1779	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1780	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1781
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1782	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1783
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1784	/** Get the master state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1785	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1786	static ATTRIBUTES int ec_ioctl_master_state(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1787	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1788	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1789	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1790	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1791	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1792	ec_master_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1793
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1794	ecrt_master_state(master, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1795
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1796	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1797	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1798
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1799	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1800	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1801
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1802	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1803
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1804	/** Get the master state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1805	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1806	static ATTRIBUTES int ec_ioctl_master_link_state(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1807	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1808	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1809	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1810	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1811	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1812	ec_ioctl_link_state_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1813	ec_master_link_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1814	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1815
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1816	if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1817	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1818	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1819
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1820	ret = ecrt_master_link_state(master, ioctl.dev_idx, &state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1821	if (ret < 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1822	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1823	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1824
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1825	if (copy_to_user((void __user *) ioctl.state, &state, sizeof(state))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1826	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1827	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1828
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1829	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1830	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1831
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1832	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1833
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1834	/** Set the master dc app time.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1835	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1836	static ATTRIBUTES int ec_ioctl_app_time(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1837	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1838	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1839	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1840	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1841	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1842	ec_ioctl_app_time_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1843
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1844	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1845	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1846
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1847	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1848	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1849	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1850
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1851	ecrt_master_application_time(master, data.app_time);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1852	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1853	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1854
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1855	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1856
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1857	/** Sync the reference clock.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1858	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1859	static ATTRIBUTES int ec_ioctl_sync_ref(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1860	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1861	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1862	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1863	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1864	{
2498 9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1865	if (unlikely(!ctx->requested)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1866	return -EPERM;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1867	}
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1868
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1869	ecrt_master_sync_reference_clock(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1870	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1871	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1872
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1873	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1874
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1875	/** Sync the slave clocks.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1876	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1877	static ATTRIBUTES int ec_ioctl_sync_slaves(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1878	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1879	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1880	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1881	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1882	{
2498 9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1883	if (unlikely(!ctx->requested)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1884	return -EPERM;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1885	}
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1886
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1887	ecrt_master_sync_slave_clocks(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1888	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1889	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1890
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1891	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1892
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1893	/** Get the system time of the reference clock.
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1894	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1895	static ATTRIBUTES int ec_ioctl_ref_clock_time(
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1896	ec_master_t master, /< EtherCAT master. /
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1897	void arg, /< ioctl() argument. /
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1898	ec_ioctl_context_t ctx /< Private data structure of file handle. /
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1899	)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1900	{
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1901	uint32_t time;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1902	int ret;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1903
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1904	if (unlikely(!ctx->requested)) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1905	return -EPERM;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1906	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1907
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1908	ret = ecrt_master_reference_clock_time(master, &time);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1909	if (ret) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1910	return ret;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1911	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1912
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1913	if (copy_to_user((void __user *) arg, &time, sizeof(time))) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1914	return -EFAULT;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1915	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1916
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1917	return 0;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1918	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1919
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1920	/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1921
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1922	/** Queue the sync monitoring datagram.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1923	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1924	static ATTRIBUTES int ec_ioctl_sync_mon_queue(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1925	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1926	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1927	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1928	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1929	{
2498 9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1930	if (unlikely(!ctx->requested)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1931	return -EPERM;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1932	}
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library. Florian Pose <fp@igh-essen.com> parents: 2487 diff changeset	1933
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1934	ecrt_master_sync_monitor_queue(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1935	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1936	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1937
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1938	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1939
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1940	/** Processes the sync monitoring datagram.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1941	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1942	static ATTRIBUTES int ec_ioctl_sync_mon_process(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1943	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1944	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1945	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1946	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1947	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1948	uint32_t time_diff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1949
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1950	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1951	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1952
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1953	time_diff = ecrt_master_sync_monitor_process(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1954
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1955	if (copy_to_user((void __user *) arg, &time_diff, sizeof(time_diff)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1956	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1957
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1958	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1959	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1960
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1961	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1962
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1963	/** Reset configuration.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1964	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1965	static ATTRIBUTES int ec_ioctl_reset(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1966	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1967	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1968	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1969	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1970	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1971	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1972	ecrt_master_reset(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1973	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1974	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1975	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1976
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1977	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1978
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1979	/** Configure a sync manager.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1980	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	1981	static ATTRIBUTES int ec_ioctl_sc_sync(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1982	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1983	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1984	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1985	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1986	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1987	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1988	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1989	unsigned int i;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1990	int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1991
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1992	if (unlikely(!ctx->requested)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1993	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1994	goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1995	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1996
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1997	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1998	ret = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1999	goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2000	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2001
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2002	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2003	ret = -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2004	goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2005	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2006
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2007	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2008	ret = -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2009	goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2010	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2011
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2012	for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2013	if (data.syncs[i].config_this) {
2474 fb2fe8fae501 Fixed some ioctl() return values. Florian Pose <fp@igh-essen.com> parents: 2467 diff changeset	2014	ret = ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir,
fb2fe8fae501 Fixed some ioctl() return values. Florian Pose <fp@igh-essen.com> parents: 2467 diff changeset	2015	data.syncs[i].watchdog_mode);
fb2fe8fae501 Fixed some ioctl() return values. Florian Pose <fp@igh-essen.com> parents: 2467 diff changeset	2016	if (ret) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2017	goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2018	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2019	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2020	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2021
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2022	out_up:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2023	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2024	out_return:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2025	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2026	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2027
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2028	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2029
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2030	/** Configure a slave's watchdogs.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2031	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2032	static ATTRIBUTES int ec_ioctl_sc_watchdog(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2033	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2034	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2035	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2036	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2037	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2038	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2039	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2040	int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2041
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2042	if (unlikely(!ctx->requested)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2043	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2044	goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2045	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2046
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2047	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2048	ret = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2049	goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2050	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2051
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2052	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2053	ret = -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2054	goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2055	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2056
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2057	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2058	ret = -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2059	goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2060	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2061
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2062	ecrt_slave_config_watchdog(sc,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2063	data.watchdog_divider, data.watchdog_intervals);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2064
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2065	out_up:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2066	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2067	out_return:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2068	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2069	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2070
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2071	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2072
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2073	/** Add a PDO to the assignment.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2074	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2075	static ATTRIBUTES int ec_ioctl_sc_add_pdo(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2076	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2077	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2078	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2079	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2080	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2081	ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2082	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2083
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2084	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2085	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2086
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2087	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2088	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2089
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2090	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2091	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2092
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2093	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2094	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2095	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2096	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2097
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2098	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2099
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2100	return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2101	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2102
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2103	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2104
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2105	/** Clears the PDO assignment.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2106	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2107	static ATTRIBUTES int ec_ioctl_sc_clear_pdos(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2108	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2109	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2110	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2111	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2112	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2113	ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2114	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2115
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2116	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2117	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2118
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2119	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2120	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2121
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2122	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2123	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2124
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2125	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2126	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2127	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2128	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2129
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2130	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2131
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2132	ecrt_slave_config_pdo_assign_clear(sc, data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2133	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2134	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2135
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2136	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2137
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2138	/** Add an entry to a PDO's mapping.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2139	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2140	static ATTRIBUTES int ec_ioctl_sc_add_entry(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2141	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2142	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2143	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2144	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2145	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2146	ec_ioctl_add_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2147	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2148
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2149	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2150	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2151
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2152	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2153	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2154
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2155	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2156	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2157
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2158	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2159	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2160	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2161	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2162
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2163	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2164
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2165	return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2166	data.entry_index, data.entry_subindex, data.entry_bit_length);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2167	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2168
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2169	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2170
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2171	/** Clears the mapping of a PDO.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2172	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2173	static ATTRIBUTES int ec_ioctl_sc_clear_entries(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2174	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2175	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2176	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2177	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2178	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2179	ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2180	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2181
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2182	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2183	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2184
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2185	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2186	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2187
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2188	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2189	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2190
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2191	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2192	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2193	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2194	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2195
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2196	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2197
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2198	ecrt_slave_config_pdo_mapping_clear(sc, data.index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2199	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2200	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2201
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2202	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2203
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2204	/** Registers a PDO entry.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2205	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2206	static ATTRIBUTES int ec_ioctl_sc_reg_pdo_entry(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2207	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2208	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2209	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2210	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2211	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2212	ec_ioctl_reg_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2213	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2214	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2215	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2216
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2217	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2218	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2219
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2220	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2221	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2222
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2223	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2224	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2225
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2226	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2227	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2228	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2229	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2230
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2231	if (!(domain = ec_master_find_domain(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2232	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2233	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2234	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2235
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2236	up(&master->master_sem); /** \fixme sc or domain could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2237
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2238	ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2239	data.entry_subindex, domain, &data.bit_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2240
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2241	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2242	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2243
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2244	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2245	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2246
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2247	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2248
2505 5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2249	/** Registers a PDO entry by its position.
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2250	*/
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2251	static ATTRIBUTES int ec_ioctl_sc_reg_pdo_pos(
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2252	ec_master_t master, /< EtherCAT master. /
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2253	void arg, /< ioctl() argument. /
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2254	ec_ioctl_context_t ctx /< Private data structure of file handle. /
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2255	)
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2256	{
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2257	ec_ioctl_reg_pdo_pos_t io;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2258	ec_slave_config_t *sc;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2259	ec_domain_t *domain;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2260	int ret;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2261
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2262	if (unlikely(!ctx->requested)) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2263	return -EPERM;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2264	}
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2265
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2266	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2267	return -EFAULT;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2268	}
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2269
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2270	if (down_interruptible(&master->master_sem)) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2271	return -EINTR;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2272	}
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2273
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2274	if (!(sc = ec_master_get_config(master, io.config_index))) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2275	up(&master->master_sem);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2276	return -ENOENT;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2277	}
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2278
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2279	if (!(domain = ec_master_find_domain(master, io.domain_index))) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2280	up(&master->master_sem);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2281	return -ENOENT;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2282	}
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2283
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2284	up(&master->master_sem); /** \fixme sc or domain could be invalidated */
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2285
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2286	ret = ecrt_slave_config_reg_pdo_entry_pos(sc, io.sync_index,
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2287	io.pdo_pos, io.entry_pos, domain, &io.bit_position);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2288
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2289	if (copy_to_user((void __user *) arg, &io, sizeof(io)))
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2290	return -EFAULT;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2291
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2292	return ret;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2293	}
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2294
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2295	/*****************************************************************************/
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	2296
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2297	/** Sets the DC AssignActivate word and the sync signal times.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2298	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2299	static ATTRIBUTES int ec_ioctl_sc_dc(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2300	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2301	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2302	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2303	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2304	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2305	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2306	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2307
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2308	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2309	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2310
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2311	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2312	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2313
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2314	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2315	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2316
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2317	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2318	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2319	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2320	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2321
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2322	ecrt_slave_config_dc(sc, data.dc_assign_activate,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2323	data.dc_sync[0].cycle_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2324	data.dc_sync[0].shift_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2325	data.dc_sync[1].cycle_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2326	data.dc_sync[1].shift_time);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2327
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2328	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2329
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2330	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2331	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2332
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2333	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2334
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2335	/** Configures an SDO.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2336	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2337	static ATTRIBUTES int ec_ioctl_sc_sdo(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2338	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2339	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2340	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2341	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2342	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2343	ec_ioctl_sc_sdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2344	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2345	uint8_t *sdo_data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2346	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2347
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2348	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2349	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2350
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2351	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2352	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2353
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2354	if (!data.size)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2355	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2356
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2357	if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2358	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2359	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2360
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2361	if (copy_from_user(sdo_data, (void __user *) data.data, data.size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2362	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2363	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2364	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2365
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2366	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2367	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2368	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2369	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2370
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2371	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2372	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2373	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2374	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2375	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2376
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2377	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2378
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2379	if (data.complete_access) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2380	ret = ecrt_slave_config_complete_sdo(sc,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2381	data.index, sdo_data, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2382	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2383	ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2384	data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2385	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2386	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2387	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2388	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2389
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2390	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2391
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2392	/** Set the emergency ring buffer size.
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2393	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2394	static ATTRIBUTES int ec_ioctl_sc_emerg_size(
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2395	ec_master_t master, /< EtherCAT master. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2396	void arg, /< ioctl() argument. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2397	ec_ioctl_context_t ctx /< Private data structure of file handle. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2398	)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2399	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2400	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2401	ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2402	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2403
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2404	if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2405	return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2406
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2407	if (copy_from_user(&io, (void __user *) arg, sizeof(io)))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2408	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2409
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2410	if (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2411	return -EINTR;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2412	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2413
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2414	if (!(sc = ec_master_get_config(master, io.config_index))) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2415	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2416	return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2417	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2418
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2419	ret = ecrt_slave_config_emerg_size(sc, io.size);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2420
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2421	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2422
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2423	return ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2424	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2425
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2426	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2427
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2428	/** Get an emergency message from the ring.
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2429	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2430	static ATTRIBUTES int ec_ioctl_sc_emerg_pop(
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2431	ec_master_t master, /< EtherCAT master. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2432	void arg, /< ioctl() argument. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2433	ec_ioctl_context_t ctx /< Private data structure of file handle. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2434	)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2435	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2436	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2437	ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2438	u8 msg[EC_COE_EMERGENCY_MSG_SIZE];
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2439	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2440
2484 1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2441	if (unlikely(!ctx->requested)) {
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2442	return -EPERM;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2443	}
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2444
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2445	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2446	return -EFAULT;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2447	}
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2448
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2449	/* no locking of master_sem needed, because configuration will not be
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2450	* deleted in the meantime. */
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2451
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2452	if (!(sc = ec_master_get_config(master, io.config_index))) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2453	return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2454	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2455
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2456	ret = ecrt_slave_config_emerg_pop(sc, msg);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2457	if (ret < 0) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2458	return ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2459	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2460
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2461	if (copy_to_user((void __user *) io.target, msg, sizeof(msg))) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2462	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2463	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2464
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2465	return ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2466	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2467
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2468	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2469
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2470	/** Clear the emergency ring.
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2471	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2472	static ATTRIBUTES int ec_ioctl_sc_emerg_clear(
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2473	ec_master_t master, /< EtherCAT master. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2474	void arg, /< ioctl() argument. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2475	ec_ioctl_context_t ctx /< Private data structure of file handle. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2476	)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2477	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2478	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2479	ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2480
2484 1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2481	if (unlikely(!ctx->requested)) {
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2482	return -EPERM;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2483	}
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2484
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2485	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2486	return -EFAULT;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2487	}
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2488
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2489	/* no locking of master_sem needed, because configuration will not be
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2490	* deleted in the meantime. */
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2491
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2492	if (!(sc = ec_master_get_config(master, io.config_index))) {
2484 1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2493	return -ENOENT;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2494	}
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2495
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2496	return ecrt_slave_config_emerg_clear(sc);
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2497	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2498
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2499	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2500
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2501	/** Get the number of emergency overruns.
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2502	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2503	static ATTRIBUTES int ec_ioctl_sc_emerg_overruns(
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2504	ec_master_t master, /< EtherCAT master. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2505	void arg, /< ioctl() argument. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2506	ec_ioctl_context_t ctx /< Private data structure of file handle. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2507	)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2508	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2509	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2510	ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2511	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2512
2484 1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2513	if (unlikely(!ctx->requested)) {
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2514	return -EPERM;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2515	}
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2516
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2517	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2518	return -EFAULT;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2519	}
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2520
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2521	/* no locking of master_sem needed, because configuration will not be
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests. Florian Pose <fp@igh-essen.com> parents: 2483 diff changeset	2522	* deleted in the meantime. */
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2523
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2524	if (!(sc = ec_master_get_config(master, io.config_index))) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2525	return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2526	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2527
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2528	ret = ecrt_slave_config_emerg_overruns(sc);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2529	if (ret < 0) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2530	return ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2531	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2532
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2533	io.overruns = ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2534
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2535	if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2536	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2537	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2538
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2539	return 0;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2540	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2541
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2542	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2543
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2544	/** Create an SDO request.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2545	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2546	static ATTRIBUTES int ec_ioctl_sc_create_sdo_request(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2547	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2548	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2549	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2550	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2551	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2552	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2553	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2554	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2555
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2556	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2557	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2558
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2559	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2560	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2561	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2562
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2563	data.request_index = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2564
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2565	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2566	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2567
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2568	sc = ec_master_get_config(master, data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2569	if (!sc) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2570	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2571	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2572	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2573
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2574	list_for_each_entry(req, &sc->sdo_requests, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2575	data.request_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2576	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2577
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2578	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2579
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2580	req = ecrt_slave_config_create_sdo_request_err(sc, data.sdo_index,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2581	data.sdo_subindex, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2582	if (IS_ERR(req))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2583	return PTR_ERR(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2584
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2585	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2586	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2587
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2588	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2589	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2590
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2591	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2592
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2593	/** Create a register request.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2594	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2595	static ATTRIBUTES int ec_ioctl_sc_create_reg_request(
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2596	ec_master_t master, /< EtherCAT master. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2597	void arg, /< ioctl() argument. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2598	ec_ioctl_context_t ctx /< Private data structure of file handle. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2599	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2600	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2601	ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2602	ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2603	ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2604
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2605	if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2606	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2607	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2608
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2609	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2610	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2611	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2612
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2613	io.request_index = 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2614
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2615	if (down_interruptible(&master->master_sem)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2616	return -EINTR;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2617	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2618
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2619	sc = ec_master_get_config(master, io.config_index);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2620	if (!sc) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2621	up(&master->master_sem);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2622	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2623	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2624
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2625	list_for_each_entry(reg, &sc->reg_requests, list) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2626	io.request_index++;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2627	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2628
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2629	up(&master->master_sem); /** \fixme sc could be invalidated */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2630
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2631	reg = ecrt_slave_config_create_reg_request_err(sc, io.mem_size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2632	if (IS_ERR(reg)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2633	return PTR_ERR(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2634	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2635
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2636	if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2637	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2638	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2639
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2640	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2641	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2642
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2643	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2644
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2645	/** Create a VoE handler.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2646	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2647	static ATTRIBUTES int ec_ioctl_sc_create_voe_handler(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2648	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2649	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2650	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2651	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2652	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2653	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2654	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2655	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2656
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2657	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2658	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2659
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2660	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2661	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2662	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2663
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2664	data.voe_index = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2665
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2666	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2667	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2668
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2669	sc = ec_master_get_config(master, data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2670	if (!sc) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2671	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2672	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2673	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2674
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2675	list_for_each_entry(voe, &sc->voe_handlers, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2676	data.voe_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2677	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2678
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2679	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2680
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2681	voe = ecrt_slave_config_create_voe_handler_err(sc, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2682	if (IS_ERR(voe))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2683	return PTR_ERR(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2684
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2685	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2686	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2687
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2688	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2689	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2690
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2691	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2692
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2693	/** Get the slave configuration's state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2694	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2695	static ATTRIBUTES int ec_ioctl_sc_state(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2696	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2697	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2698	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2699	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2700	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2701	ec_ioctl_sc_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2702	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2703	ec_slave_config_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2704
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2705	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2706	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2707
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2708	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2709	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2710	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2711
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2712	/* no locking of master_sem needed, because sc will not be deleted in the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2713	* meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2714
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2715	if (!(sc = ec_master_get_config_const(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2716	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2717	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2718
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2719	ecrt_slave_config_state(sc, &state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2720
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2721	if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2722	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2723
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2724	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2725	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2726
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2727	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2728
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2729	/** Configures an IDN.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2730	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2731	static ATTRIBUTES int ec_ioctl_sc_idn(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2732	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2733	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2734	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2735	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2736	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2737	ec_ioctl_sc_idn_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2738	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2739	uint8_t *data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2740	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2741
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2742	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2743	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2744
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2745	if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2746	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2747
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2748	if (!ioctl.size)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2749	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2750
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2751	if (!(data = kmalloc(ioctl.size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2752	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2753	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2754
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2755	if (copy_from_user(data, (void __user *) ioctl.data, ioctl.size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2756	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2757	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2758	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2759
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2760	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2761	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2762	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2763	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2764
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2765	if (!(sc = ec_master_get_config(master, ioctl.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2766	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2767	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2768	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2769	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2770
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2771	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2772
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2773	ret = ecrt_slave_config_idn(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2774	sc, ioctl.drive_no, ioctl.idn, ioctl.al_state, data, ioctl.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2775	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2776	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2777	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2778
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2779	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2780
2504 5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2781	/** Gets the domain's data size.
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2782	*/
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2783	static ATTRIBUTES int ec_ioctl_domain_size(
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2784	ec_master_t master, /< EtherCAT master. /
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2785	void arg, /< ioctl() argument. /
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2786	ec_ioctl_context_t ctx /< Private data structure of file handle. /
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2787	)
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2788	{
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2789	const ec_domain_t *domain;
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2790
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2791	if (unlikely(!ctx->requested)) {
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2792	return -EPERM;
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2793	}
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2794
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2795	if (down_interruptible(&master->master_sem)) {
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2796	return -EINTR;
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2797	}
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2798
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2799	list_for_each_entry(domain, &master->domains, list) {
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2800	if (domain->index == (unsigned long) arg) {
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2801	size_t size = ecrt_domain_size(domain);
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2802	up(&master->master_sem);
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2803	return size;
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2804	}
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2805	}
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2806
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2807	up(&master->master_sem);
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2808	return -ENOENT;
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2809	}
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2810
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2811	/*****************************************************************************/
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	2812
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2813	/** Gets the domain's offset in the total process data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2814	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2815	static ATTRIBUTES int ec_ioctl_domain_offset(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2816	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2817	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2818	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2819	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2820	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2821	int offset = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2822	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2823
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2824	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2825	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2826
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2827	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2828	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2829	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2830
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2831	list_for_each_entry(domain, &master->domains, list) {
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2486 diff changeset	2832	if (domain->index == (unsigned long) arg) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2833	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2834	return offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2835	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2836	offset += ecrt_domain_size(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2837	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2838
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2839	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2840	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2841	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2842
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2843	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2844
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2845	/** Process the domain.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2846	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2847	static ATTRIBUTES int ec_ioctl_domain_process(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2848	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2849	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2850	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2851	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2852	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2853	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2854
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2855	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2856	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2857
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2858	/* no locking of master_sem needed, because domain will not be deleted in
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2859	* the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2860
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2486 diff changeset	2861	if (!(domain = ec_master_find_domain(master, (unsigned long) arg))) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2862	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2863	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2864
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2865	ecrt_domain_process(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2866	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2867	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2868
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2869	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2870
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2871	/** Queue the domain.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2872	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2873	static ATTRIBUTES int ec_ioctl_domain_queue(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2874	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2875	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2876	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2877	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2878	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2879	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2880
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2881	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2882	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2883
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2884	/* no locking of master_sem needed, because domain will not be deleted in
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2885	* the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2886
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2486 diff changeset	2887	if (!(domain = ec_master_find_domain(master, (unsigned long) arg))) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2888	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2889	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2890
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2891	ecrt_domain_queue(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2892	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2893	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2894
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2895	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2896
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2897	/** Get the domain state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2898	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2899	static ATTRIBUTES int ec_ioctl_domain_state(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2900	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2901	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2902	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2903	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2904	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2905	ec_ioctl_domain_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2906	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2907	ec_domain_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2908
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2909	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2910	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2911
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2912	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2913	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2914	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2915
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2916	/* no locking of master_sem needed, because domain will not be deleted in
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2917	* the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2918
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2919	if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2920	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2921	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2922
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2923	ecrt_domain_state(domain, &state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2924
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2925	if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2926	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2927
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2928	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2929	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2930
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2931	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2932
2434 fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2933	/** Sets an SDO request's SDO index and subindex.
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2934	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2935	static ATTRIBUTES int ec_ioctl_sdo_request_index(
2434 fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2936	ec_master_t master, /< EtherCAT master. /
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2937	void arg, /< ioctl() argument. /
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2938	ec_ioctl_context_t ctx /< Private data structure of file handle. /
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2939	)
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2940	{
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2941	ec_ioctl_sdo_request_t data;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2942	ec_slave_config_t *sc;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2943	ec_sdo_request_t *req;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2944
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2945	if (unlikely(!ctx->requested))
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2946	return -EPERM;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2947
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2948	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2949	return -EFAULT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2950
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2951	/* no locking of master_sem needed, because neither sc nor req will not be
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2952	* deleted in the meantime. */
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2953
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2954	if (!(sc = ec_master_get_config(master, data.config_index))) {
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2955	return -ENOENT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2956	}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2957
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2958	if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2959	return -ENOENT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2960	}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2961
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2962	ecrt_sdo_request_index(req, data.sdo_index, data.sdo_subindex);
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2963	return 0;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2964	}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2965
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2966	/*****************************************************************************/
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2967
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2968	/** Sets an SDO request's timeout.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2969	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	2970	static ATTRIBUTES int ec_ioctl_sdo_request_timeout(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2971	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2972	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2973	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2974	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2975	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2976	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2977	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2978	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2979
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2980	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2981	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2982
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2983	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2984	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2985
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2986	/* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2987	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2988
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2989	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2990	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2991	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2992
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2993	if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2994	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2995	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2996
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2997	ecrt_sdo_request_timeout(req, data.timeout);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2998	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2999	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3000
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3001	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3002
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3003	/** Gets an SDO request's state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3004	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3005	static ATTRIBUTES int ec_ioctl_sdo_request_state(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3006	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3007	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3008	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3009	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3010	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3011	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3012	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3013	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3014
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3015	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3016	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3017
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3018	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3019	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3020
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3021	/* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3022	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3023
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3024	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3025	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3026	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3027
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3028	if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3029	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3030	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3031
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3032	data.state = ecrt_sdo_request_state(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3033	if (data.state == EC_REQUEST_SUCCESS && req->dir == EC_DIR_INPUT)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3034	data.size = ecrt_sdo_request_data_size(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3035	else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3036	data.size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3037
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3038	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3039	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3040
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3041	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3042	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3043
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3044	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3045
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3046	/** Starts an SDO read operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3047	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3048	static ATTRIBUTES int ec_ioctl_sdo_request_read(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3049	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3050	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3051	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3052	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3053	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3054	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3055	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3056	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3057
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3058	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3059	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3060
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3061	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3062	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3063
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3064	/* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3065	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3066
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3067	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3068	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3069	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3070
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3071	if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3072	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3073	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3074
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3075	ecrt_sdo_request_read(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3076	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3077	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3078
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3079	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3080
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3081	/** Starts an SDO write operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3082	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3083	static ATTRIBUTES int ec_ioctl_sdo_request_write(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3084	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3085	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3086	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3087	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3088	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3089	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3090	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3091	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3092	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3093
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3094	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3095	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3096
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3097	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3098	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3099
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3100	if (!data.size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3101	EC_MASTER_ERR(master, "SDO download: Data size may not be zero!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3102	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3103	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3104
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3105	/* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3106	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3107
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3108	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3109	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3110	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3111
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3112	if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3113	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3114	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3115
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3116	ret = ec_sdo_request_alloc(req, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3117	if (ret)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3118	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3119
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3120	if (copy_from_user(req->data, (void __user *) data.data, data.size))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3121	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3122
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3123	req->data_size = data.size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3124	ecrt_sdo_request_write(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3125	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3126	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3127
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3128	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3129
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3130	/** Read SDO data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3131	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3132	static ATTRIBUTES int ec_ioctl_sdo_request_data(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3133	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3134	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3135	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3136	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3137	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3138	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3139	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3140	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3141
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3142	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3143	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3144
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3145	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3146	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3147
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3148	/* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3149	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3150
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3151	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3152	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3153	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3154
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3155	if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3156	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3157	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3158
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3159	if (copy_to_user((void __user *) data.data, ecrt_sdo_request_data(req),
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3160	ecrt_sdo_request_data_size(req)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3161	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3162
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3163	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3164	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3165
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3166	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3167
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3168	/** Read register data.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3169	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3170	static ATTRIBUTES int ec_ioctl_reg_request_data(
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3171	ec_master_t master, /< EtherCAT master. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3172	void arg, /< ioctl() argument. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3173	ec_ioctl_context_t ctx /< Private data structure of file handle. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3174	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3175	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3176	ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3177	ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3178	ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3179
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3180	if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3181	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3182	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3183
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3184	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3185	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3186	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3187
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3188	if (io.mem_size <= 0) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3189	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3190	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3191
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3192	/* no locking of master_sem needed, because neither sc nor reg will not be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3193	* deleted in the meantime. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3194
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3195	if (!(sc = ec_master_get_config(master, io.config_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3196	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3197	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3198
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3199	if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3200	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3201	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3202
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3203	if (copy_to_user((void __user *) io.data, ecrt_reg_request_data(reg),
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3204	min(reg->mem_size, io.mem_size))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3205	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3206	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3207
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3208	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3209	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3210
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3211	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3212
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3213	/** Gets an register request's state.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3214	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3215	static ATTRIBUTES int ec_ioctl_reg_request_state(
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3216	ec_master_t master, /< EtherCAT master. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3217	void arg, /< ioctl() argument. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3218	ec_ioctl_context_t ctx /< Private data structure of file handle. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3219	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3220	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3221	ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3222	ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3223	ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3224
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3225	if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3226	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3227	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3228
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3229	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3230	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3231	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3232
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3233	/* no locking of master_sem needed, because neither sc nor reg will not be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3234	* deleted in the meantime. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3235
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3236	if (!(sc = ec_master_get_config(master, io.config_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3237	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3238	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3239
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3240	if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3241	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3242	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3243
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3244	io.state = ecrt_reg_request_state(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3245	io.new_data = io.state == EC_REQUEST_SUCCESS && reg->dir == EC_DIR_INPUT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3246
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3247	if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3248	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3249	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3250
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3251	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3252	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3253
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3254	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3255
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3256	/** Starts an register write operation.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3257	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3258	static ATTRIBUTES int ec_ioctl_reg_request_write(
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3259	ec_master_t master, /< EtherCAT master. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3260	void arg, /< ioctl() argument. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3261	ec_ioctl_context_t ctx /< Private data structure of file handle. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3262	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3263	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3264	ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3265	ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3266	ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3267
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3268	if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3269	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3270	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3271
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3272	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3273	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3274	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3275
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3276	/* no locking of master_sem needed, because neither sc nor reg will not be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3277	* deleted in the meantime. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3278
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3279	if (!(sc = ec_master_get_config(master, io.config_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3280	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3281	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3282
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3283	if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3284	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3285	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3286
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3287	if (io.transfer_size > reg->mem_size) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3288	return -EOVERFLOW;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3289	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3290
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3291	if (copy_from_user(reg->data, (void __user *) io.data,
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3292	io.transfer_size)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3293	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3294	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3295
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3296	ecrt_reg_request_write(reg, io.address, io.transfer_size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3297	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3298	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3299
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3300	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3301
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3302	/** Starts an register read operation.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3303	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3304	static ATTRIBUTES int ec_ioctl_reg_request_read(
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3305	ec_master_t master, /< EtherCAT master. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3306	void arg, /< ioctl() argument. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3307	ec_ioctl_context_t ctx /< Private data structure of file handle. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3308	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3309	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3310	ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3311	ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3312	ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3313
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3314	if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3315	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3316	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3317
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3318	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3319	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3320	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3321
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3322	/* no locking of master_sem needed, because neither sc nor reg will not be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3323	* deleted in the meantime. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3324
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3325	if (!(sc = ec_master_get_config(master, io.config_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3326	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3327	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3328
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3329	if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3330	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3331	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3332
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3333	if (io.transfer_size > reg->mem_size) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3334	return -EOVERFLOW;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3335	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3336
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3337	ecrt_reg_request_read(reg, io.address, io.transfer_size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3338	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3339	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3340
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3341	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3342
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3343	/** Sets the VoE send header.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3344	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3345	static ATTRIBUTES int ec_ioctl_voe_send_header(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3346	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3347	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3348	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3349	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3350	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3351	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3352	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3353	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3354	uint32_t vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3355	uint16_t vendor_type;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3356
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3357	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3358	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3359
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3360	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3361	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3362
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3363	if (get_user(vendor_id, data.vendor_id))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3364	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3365
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3366	if (get_user(vendor_type, data.vendor_type))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3367	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3368
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3369	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3370	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3371
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3372	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3373	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3374	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3375
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3376	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3377	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3378	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3379
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3380	ecrt_voe_handler_send_header(voe, vendor_id, vendor_type);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3381	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3382	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3383
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3384	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3385
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3386	/** Gets the received VoE header.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3387	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3388	static ATTRIBUTES int ec_ioctl_voe_rec_header(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3389	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3390	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3391	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3392	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3393	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3394	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3395	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3396	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3397	uint32_t vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3398	uint16_t vendor_type;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3399
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3400	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3401	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3402
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3403	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3404	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3405
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3406	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3407	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3408
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3409	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3410	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3411	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3412
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3413	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3414	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3415	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3416
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3417	ecrt_voe_handler_received_header(voe, &vendor_id, &vendor_type);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3418
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3419	if (likely(data.vendor_id))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3420	if (put_user(vendor_id, data.vendor_id))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3421	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3422
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3423	if (likely(data.vendor_type))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3424	if (put_user(vendor_type, data.vendor_type))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3425	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3426
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3427	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3428	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3429
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3430	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3431
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3432	/** Starts a VoE read operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3433	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3434	static ATTRIBUTES int ec_ioctl_voe_read(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3435	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3436	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3437	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3438	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3439	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3440	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3441	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3442	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3443
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3444	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3445	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3446
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3447	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3448	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3449
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3450	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3451	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3452
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3453	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3454	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3455	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3456
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3457	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3458	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3459	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3460
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3461	ecrt_voe_handler_read(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3462	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3463	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3464
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3465	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3466
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3467	/** Starts a VoE read operation without sending a sync message first.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3468	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3469	static ATTRIBUTES int ec_ioctl_voe_read_nosync(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3470	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3471	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3472	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3473	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3474	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3475	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3476	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3477	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3478
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3479	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3480	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3481
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3482	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3483	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3484
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3485	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3486	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3487
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3488	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3489	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3490	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3491
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3492	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3493	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3494	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3495
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3496	ecrt_voe_handler_read_nosync(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3497	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3498	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3499
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3500	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3501
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3502	/** Starts a VoE write operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3503	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3504	static ATTRIBUTES int ec_ioctl_voe_write(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3505	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3506	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3507	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3508	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3509	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3510	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3511	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3512	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3513
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3514	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3515	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3516
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3517	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3518	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3519
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3520	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3521	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3522
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3523	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3524	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3525	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3526
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3527	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3528	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3529	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3530
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3531	if (data.size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3532	if (data.size > ec_voe_handler_mem_size(voe))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3533	return -EOVERFLOW;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3534
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3535	if (copy_from_user(ecrt_voe_handler_data(voe),
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3536	(void __user *) data.data, data.size))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3537	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3538	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3539
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3540	ecrt_voe_handler_write(voe, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3541	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3542	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3543
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3544	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3545
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3546	/** Executes the VoE state machine.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3547	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3548	static ATTRIBUTES int ec_ioctl_voe_exec(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3549	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3550	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3551	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3552	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3553	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3554	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3555	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3556	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3557
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3558	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3559	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3560
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3561	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3562	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3563
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3564	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3565	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3566
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3567	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3568	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3569	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3570
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3571	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3572	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3573	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3574
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3575	data.state = ecrt_voe_handler_execute(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3576	if (data.state == EC_REQUEST_SUCCESS && voe->dir == EC_DIR_INPUT)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3577	data.size = ecrt_voe_handler_data_size(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3578	else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3579	data.size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3580
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3581	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3582	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3583
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3584	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3585	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3586
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3587	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3588
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3589	/** Reads the received VoE data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3590	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3591	static ATTRIBUTES int ec_ioctl_voe_data(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3592	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3593	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3594	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3595	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3596	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3597	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3598	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3599	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3600
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3601	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3602	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3603
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3604	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3605	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3606
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3607	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3608	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3609
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3610	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3611	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3612	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3613
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3614	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3615	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3616	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3617
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3618	if (copy_to_user((void __user *) data.data, ecrt_voe_handler_data(voe),
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3619	ecrt_voe_handler_data_size(voe)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3620	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3621
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3622	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3623	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3624
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3625	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3626
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3627	/** Read a file from a slave via FoE.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3628	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3629	static ATTRIBUTES int ec_ioctl_slave_foe_read(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3630	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3631	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3632	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3633	{
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3634	ec_ioctl_slave_foe_t io;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3635	ec_foe_request_t request;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3636	ec_slave_t *slave;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3637	int ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3638
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3639	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3640	return -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3641	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3642
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3643	ec_foe_request_init(&request, io.file_name);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3644	ret = ec_foe_request_alloc(&request, 10000); // FIXME
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3645	if (ret) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3646	ec_foe_request_clear(&request);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3647	return ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3648	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3649
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3650	ec_foe_request_read(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3651
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3652	if (down_interruptible(&master->master_sem)) {
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3653	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3654	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3655	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3656
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3657	if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3658	up(&master->master_sem);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3659	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3660	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3661	io.slave_position);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3662	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3663	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3664
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	3665	EC_SLAVE_DBG(slave, 1, "Scheduling FoE read request.\n");
74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	3666
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3667	// schedule request.
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3668	list_add_tail(&request.list, &slave->foe_requests);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3669
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3670	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3671
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3672	// wait for processing through FSM
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	3673	if (wait_event_interruptible(master->request_queue,
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3674	request.state != EC_INT_REQUEST_QUEUED)) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3675	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3676	down(&master->master_sem);
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3677	if (request.state == EC_INT_REQUEST_QUEUED) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3678	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3679	up(&master->master_sem);
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3680	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3681	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3682	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3683	// request already processing: interrupt not possible.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3684	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3685	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3686
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3687	// wait until master FSM has finished processing
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	3688	wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3689
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3690	io.result = request.result;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3691	io.error_code = request.error_code;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3692
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3693	if (request.state != EC_INT_REQUEST_SUCCESS) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3694	io.data_size = 0;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3695	ret = -EIO;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3696	} else {
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3697	if (request.data_size > io.buffer_size) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3698	EC_MASTER_ERR(master, "Buffer too small.\n");
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3699	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3700	return -EOVERFLOW;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3701	}
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3702	io.data_size = request.data_size;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3703	if (copy_to_user((void __user *) io.buffer,
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3704	request.buffer, io.data_size)) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3705	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3706	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3707	}
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3708	ret = 0;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3709	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3710
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3711	if (__copy_to_user((void __user *) arg, &io, sizeof(io))) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3712	ret = -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3713	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3714
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3715	ec_foe_request_clear(&request);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3716	return ret;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3717	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3718
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3719	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3720
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3721	/** Write a file to a slave via FoE
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3722	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3723	static ATTRIBUTES int ec_ioctl_slave_foe_write(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3724	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3725	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3726	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3727	{
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3728	ec_ioctl_slave_foe_t io;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3729	ec_foe_request_t request;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3730	ec_slave_t *slave;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3731	int ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3732
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3733	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3734	return -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3735	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3736
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3737	ec_foe_request_init(&request, io.file_name);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3738
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3739	ret = ec_foe_request_alloc(&request, io.buffer_size);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3740	if (ret) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3741	ec_foe_request_clear(&request);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3742	return ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3743	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3744
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3745	if (copy_from_user(request.buffer,
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3746	(void __user *) io.buffer, io.buffer_size)) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3747	ec_foe_request_clear(&request);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3748	return -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3749	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3750
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3751	request.data_size = io.buffer_size;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3752	ec_foe_request_write(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3753
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3754	if (down_interruptible(&master->master_sem)) {
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3755	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3756	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3757	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3758
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3759	if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3760	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3761	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3762	io.slave_position);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3763	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3764	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3765	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3766
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3767	EC_SLAVE_DBG(slave, 1, "Scheduling FoE write request.\n");
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3768
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3769	// schedule FoE write request.
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3770	list_add_tail(&request.list, &slave->foe_requests);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3771
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3772	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3773
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3774	// wait for processing through FSM
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	3775	if (wait_event_interruptible(master->request_queue,
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3776	request.state != EC_INT_REQUEST_QUEUED)) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3777	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3778	down(&master->master_sem);
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3779	if (request.state == EC_INT_REQUEST_QUEUED) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3780	// abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3781	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3782	up(&master->master_sem);
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3783	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3784	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3785	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3786	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3787	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3788
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3789	// wait until master FSM has finished processing
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	3790	wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3791
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3792	io.result = request.result;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3793	io.error_code = request.error_code;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3794
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3795	ret = request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3796
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3797	if (__copy_to_user((void __user *) arg, &io, sizeof(io))) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3798	ret = -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3799	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3800
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3801	ec_foe_request_clear(&request);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3802	return ret;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3803	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3804
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3805	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3806
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3807	/** Read an SoE IDN.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3808	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3809	static ATTRIBUTES int ec_ioctl_slave_soe_read(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3810	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3811	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3812	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3813	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3814	ec_ioctl_slave_soe_read_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3815	u8 *data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3816	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3817
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3818	if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3819	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3820	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3821
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3822	data = kmalloc(ioctl.mem_size, GFP_KERNEL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3823	if (!data) {
2487 ccafdf1e261f Fixed some warnings on 64 bit systems. Florian Pose <fp@igh-essen.com> parents: 2486 diff changeset	3824	EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3825	ioctl.mem_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3826	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3827	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3828
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3829	retval = ecrt_master_read_idn(master, ioctl.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3830	ioctl.drive_no, ioctl.idn, data, ioctl.mem_size, &ioctl.data_size,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3831	&ioctl.error_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3832	if (retval) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3833	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3834	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3835	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3836
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3837	if (copy_to_user((void __user *) ioctl.data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3838	data, ioctl.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3839	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3840	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3841	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3842	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3843
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3844	if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3845	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3846	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3847
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3848	EC_MASTER_DBG(master, 1, "Finished SoE read request.\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3849	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3850	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3851
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3852	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3853
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3854	/** Write an IDN to a slave via SoE.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3855	*/
2481 c99ff159b60d Added function attribute definition. Florian Pose <fp@igh-essen.com> parents: 2477 diff changeset	3856	static ATTRIBUTES int ec_ioctl_slave_soe_write(
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3857	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3858	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3859	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3860	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3861	ec_ioctl_slave_soe_write_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3862	u8 *data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3863	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3864
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3865	if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3866	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3867	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3868
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3869	data = kmalloc(ioctl.data_size, GFP_KERNEL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3870	if (!data) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3871	EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3872	ioctl.data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3873	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3874	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3875	if (copy_from_user(data, (void __user *) ioctl.data, ioctl.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3876	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3877	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3878	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3879
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3880	retval = ecrt_master_write_idn(master, ioctl.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3881	ioctl.drive_no, ioctl.idn, data, ioctl.data_size,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3882	&ioctl.error_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3883	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3884	if (retval) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3885	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3886	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3887
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3888	if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3889	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3890	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3891
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3892	EC_MASTER_DBG(master, 1, "Finished SoE write request.\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3893	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3894	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3895
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3896	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3897
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3898	#ifdef EC_IOCTL_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3899	#define EC_IOCTL ec_ioctl_rtdm
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3900	#else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3901	#define EC_IOCTL ec_ioctl
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3902	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3903
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3904	/** Called when an ioctl() command is issued.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3905	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3906	long EC_IOCTL(ec_master_t master, ec_ioctl_context_t ctx,
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3907	unsigned int cmd, void *arg)
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3908	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3909	#if DEBUG_LATENCY
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3910	cycles_t a = get_cycles(), b;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3911	unsigned int t;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3912	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3913	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3914
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3915	switch (cmd) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3916	case EC_IOCTL_MODULE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3917	ret = ec_ioctl_module(arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3918	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3919	case EC_IOCTL_MASTER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3920	ret = ec_ioctl_master(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3921	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3922	case EC_IOCTL_SLAVE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3923	ret = ec_ioctl_slave(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3924	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3925	case EC_IOCTL_SLAVE_SYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3926	ret = ec_ioctl_slave_sync(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3927	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3928	case EC_IOCTL_SLAVE_SYNC_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3929	ret = ec_ioctl_slave_sync_pdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3930	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3931	case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3932	ret = ec_ioctl_slave_sync_pdo_entry(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3933	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3934	case EC_IOCTL_DOMAIN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3935	ret = ec_ioctl_domain(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3936	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3937	case EC_IOCTL_DOMAIN_FMMU:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3938	ret = ec_ioctl_domain_fmmu(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3939	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3940	case EC_IOCTL_DOMAIN_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3941	ret = ec_ioctl_domain_data(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3942	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3943	case EC_IOCTL_MASTER_DEBUG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3944	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3945	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3946	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3947	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3948	ret = ec_ioctl_master_debug(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3949	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3950	case EC_IOCTL_MASTER_RESCAN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3951	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3952	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3953	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3954	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3955	ret = ec_ioctl_master_rescan(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3956	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3957	case EC_IOCTL_SLAVE_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3958	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3959	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3960	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3961	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3962	ret = ec_ioctl_slave_state(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3963	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3964	case EC_IOCTL_SLAVE_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3965	ret = ec_ioctl_slave_sdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3966	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3967	case EC_IOCTL_SLAVE_SDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3968	ret = ec_ioctl_slave_sdo_entry(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3969	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3970	case EC_IOCTL_SLAVE_SDO_UPLOAD:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3971	ret = ec_ioctl_slave_sdo_upload(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3972	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3973	case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3974	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3975	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3976	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3977	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3978	ret = ec_ioctl_slave_sdo_download(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3979	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3980	case EC_IOCTL_SLAVE_SII_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3981	ret = ec_ioctl_slave_sii_read(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3982	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3983	case EC_IOCTL_SLAVE_SII_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3984	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3985	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3986	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3987	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3988	ret = ec_ioctl_slave_sii_write(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3989	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3990	case EC_IOCTL_SLAVE_REG_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3991	ret = ec_ioctl_slave_reg_read(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3992	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3993	case EC_IOCTL_SLAVE_REG_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3994	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3995	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3996	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3997	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3998	ret = ec_ioctl_slave_reg_write(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3999	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4000	case EC_IOCTL_SLAVE_FOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4001	ret = ec_ioctl_slave_foe_read(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4002	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4003	case EC_IOCTL_SLAVE_FOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4004	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4005	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4006	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4007	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4008	ret = ec_ioctl_slave_foe_write(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4009	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4010	case EC_IOCTL_SLAVE_SOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4011	ret = ec_ioctl_slave_soe_read(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4012	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4013	case EC_IOCTL_SLAVE_SOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4014	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4015	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4016	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4017	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4018	ret = ec_ioctl_slave_soe_write(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4019	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4020	case EC_IOCTL_CONFIG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4021	ret = ec_ioctl_config(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4022	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4023	case EC_IOCTL_CONFIG_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4024	ret = ec_ioctl_config_pdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4025	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4026	case EC_IOCTL_CONFIG_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4027	ret = ec_ioctl_config_pdo_entry(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4028	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4029	case EC_IOCTL_CONFIG_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4030	ret = ec_ioctl_config_sdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4031	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4032	case EC_IOCTL_CONFIG_IDN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4033	ret = ec_ioctl_config_idn(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4034	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4035	#ifdef EC_EOE
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4036	case EC_IOCTL_EOE_HANDLER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4037	ret = ec_ioctl_eoe_handler(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4038	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4039	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4040	case EC_IOCTL_REQUEST:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4041	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4042	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4043	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4044	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4045	ret = ec_ioctl_request(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4046	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4047	case EC_IOCTL_CREATE_DOMAIN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4048	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4049	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4050	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4051	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4052	ret = ec_ioctl_create_domain(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4053	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4054	case EC_IOCTL_CREATE_SLAVE_CONFIG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4055	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4056	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4057	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4058	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4059	ret = ec_ioctl_create_slave_config(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4060	break;
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4061	case EC_IOCTL_SELECT_REF_CLOCK:
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4062	if (!ctx->writable) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4063	ret = -EPERM;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4064	break;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4065	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4066	ret = ec_ioctl_select_ref_clock(master, arg, ctx);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4067	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4068	case EC_IOCTL_ACTIVATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4069	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4070	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4071	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4072	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4073	ret = ec_ioctl_activate(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4074	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4075	case EC_IOCTL_DEACTIVATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4076	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4077	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4078	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4079	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4080	ret = ec_ioctl_deactivate(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4081	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4082	case EC_IOCTL_SEND:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4083	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4084	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4085	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4086	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4087	ret = ec_ioctl_send(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4088	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4089	case EC_IOCTL_RECEIVE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4090	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4091	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4092	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4093	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4094	ret = ec_ioctl_receive(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4095	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4096	case EC_IOCTL_MASTER_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4097	ret = ec_ioctl_master_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4098	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4099	case EC_IOCTL_MASTER_LINK_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4100	ret = ec_ioctl_master_link_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4101	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4102	case EC_IOCTL_APP_TIME:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4103	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4104	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4105	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4106	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4107	ret = ec_ioctl_app_time(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4108	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4109	case EC_IOCTL_SYNC_REF:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4110	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4111	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4112	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4113	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4114	ret = ec_ioctl_sync_ref(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4115	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4116	case EC_IOCTL_SYNC_SLAVES:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4117	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4118	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4119	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4120	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4121	ret = ec_ioctl_sync_slaves(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4122	break;
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4123	case EC_IOCTL_REF_CLOCK_TIME:
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4124	if (!ctx->writable) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4125	ret = -EPERM;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4126	break;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4127	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4128	ret = ec_ioctl_ref_clock_time(master, arg, ctx);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4129	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4130	case EC_IOCTL_SYNC_MON_QUEUE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4131	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4132	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4133	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4134	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4135	ret = ec_ioctl_sync_mon_queue(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4136	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4137	case EC_IOCTL_SYNC_MON_PROCESS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4138	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4139	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4140	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4141	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4142	ret = ec_ioctl_sync_mon_process(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4143	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4144	case EC_IOCTL_RESET:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4145	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4146	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4147	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4148	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4149	ret = ec_ioctl_reset(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4150	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4151	case EC_IOCTL_SC_SYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4152	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4153	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4154	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4155	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4156	ret = ec_ioctl_sc_sync(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4157	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4158	case EC_IOCTL_SC_WATCHDOG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4159	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4160	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4161	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4162	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4163	ret = ec_ioctl_sc_watchdog(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4164	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4165	case EC_IOCTL_SC_ADD_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4166	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4167	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4168	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4169	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4170	ret = ec_ioctl_sc_add_pdo(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4171	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4172	case EC_IOCTL_SC_CLEAR_PDOS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4173	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4174	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4175	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4176	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4177	ret = ec_ioctl_sc_clear_pdos(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4178	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4179	case EC_IOCTL_SC_ADD_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4180	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4181	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4182	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4183	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4184	ret = ec_ioctl_sc_add_entry(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4185	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4186	case EC_IOCTL_SC_CLEAR_ENTRIES:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4187	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4188	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4189	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4190	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4191	ret = ec_ioctl_sc_clear_entries(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4192	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4193	case EC_IOCTL_SC_REG_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4194	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4195	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4196	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4197	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4198	ret = ec_ioctl_sc_reg_pdo_entry(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4199	break;
2505 5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	4200	case EC_IOCTL_SC_REG_PDO_POS:
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	4201	if (!ctx->writable) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	4202	ret = -EPERM;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	4203	break;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	4204	}
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	4205	ret = ec_ioctl_sc_reg_pdo_pos(master, arg, ctx);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries. Florian Pose <fp@igh-essen.com> parents: 2504 diff changeset	4206	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4207	case EC_IOCTL_SC_DC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4208	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4209	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4210	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4211	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4212	ret = ec_ioctl_sc_dc(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4213	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4214	case EC_IOCTL_SC_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4215	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4216	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4217	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4218	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4219	ret = ec_ioctl_sc_sdo(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4220	break;
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4221	case EC_IOCTL_SC_EMERG_SIZE:
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4222	if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4223	ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4224	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4225	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4226	ret = ec_ioctl_sc_emerg_size(master, arg, ctx);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4227	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4228	case EC_IOCTL_SC_EMERG_POP:
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4229	if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4230	ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4231	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4232	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4233	ret = ec_ioctl_sc_emerg_pop(master, arg, ctx);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4234	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4235	case EC_IOCTL_SC_EMERG_CLEAR:
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4236	if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4237	ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4238	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4239	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4240	ret = ec_ioctl_sc_emerg_clear(master, arg, ctx);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4241	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4242	case EC_IOCTL_SC_EMERG_OVERRUNS:
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4243	ret = ec_ioctl_sc_emerg_overruns(master, arg, ctx);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4244	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4245	case EC_IOCTL_SC_SDO_REQUEST:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4246	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4247	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4248	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4249	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4250	ret = ec_ioctl_sc_create_sdo_request(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4251	break;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4252	case EC_IOCTL_SC_REG_REQUEST:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4253	if (!ctx->writable) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4254	ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4255	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4256	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4257	ret = ec_ioctl_sc_create_reg_request(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4258	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4259	case EC_IOCTL_SC_VOE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4260	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4261	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4262	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4263	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4264	ret = ec_ioctl_sc_create_voe_handler(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4265	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4266	case EC_IOCTL_SC_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4267	ret = ec_ioctl_sc_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4268	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4269	case EC_IOCTL_SC_IDN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4270	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4271	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4272	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4273	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4274	ret = ec_ioctl_sc_idn(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4275	break;
2504 5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	4276	case EC_IOCTL_DOMAIN_SIZE:
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	4277	ret = ec_ioctl_domain_size(master, arg, ctx);
5ef9d5b14879 Exported ecrt_domain_size() for userspace. Florian Pose <fp@igh-essen.com> parents: 2498 diff changeset	4278	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4279	case EC_IOCTL_DOMAIN_OFFSET:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4280	ret = ec_ioctl_domain_offset(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4281	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4282	case EC_IOCTL_DOMAIN_PROCESS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4283	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4284	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4285	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4286	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4287	ret = ec_ioctl_domain_process(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4288	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4289	case EC_IOCTL_DOMAIN_QUEUE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4290	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4291	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4292	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4293	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4294	ret = ec_ioctl_domain_queue(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4295	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4296	case EC_IOCTL_DOMAIN_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4297	ret = ec_ioctl_domain_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4298	break;
2434 fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4299	case EC_IOCTL_SDO_REQUEST_INDEX:
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4300	if (!ctx->writable) {
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4301	ret = -EPERM;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4302	break;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4303	}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4304	ret = ec_ioctl_sdo_request_index(master, arg, ctx);
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4305	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4306	case EC_IOCTL_SDO_REQUEST_TIMEOUT:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4307	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4308	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4309	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4310	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4311	ret = ec_ioctl_sdo_request_timeout(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4312	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4313	case EC_IOCTL_SDO_REQUEST_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4314	ret = ec_ioctl_sdo_request_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4315	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4316	case EC_IOCTL_SDO_REQUEST_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4317	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4318	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4319	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4320	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4321	ret = ec_ioctl_sdo_request_read(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4322	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4323	case EC_IOCTL_SDO_REQUEST_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4324	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4325	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4326	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4327	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4328	ret = ec_ioctl_sdo_request_write(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4329	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4330	case EC_IOCTL_SDO_REQUEST_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4331	ret = ec_ioctl_sdo_request_data(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4332	break;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4333	case EC_IOCTL_REG_REQUEST_DATA:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4334	ret = ec_ioctl_reg_request_data(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4335	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4336	case EC_IOCTL_REG_REQUEST_STATE:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4337	ret = ec_ioctl_reg_request_state(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4338	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4339	case EC_IOCTL_REG_REQUEST_WRITE:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4340	if (!ctx->writable) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4341	ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4342	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4343	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4344	ret = ec_ioctl_reg_request_write(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4345	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4346	case EC_IOCTL_REG_REQUEST_READ:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4347	if (!ctx->writable) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4348	ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4349	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4350	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4351	ret = ec_ioctl_reg_request_read(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4352	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4353	case EC_IOCTL_VOE_SEND_HEADER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4354	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4355	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4356	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4357	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4358	ret = ec_ioctl_voe_send_header(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4359	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4360	case EC_IOCTL_VOE_REC_HEADER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4361	ret = ec_ioctl_voe_rec_header(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4362	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4363	case EC_IOCTL_VOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4364	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4365	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4366	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4367	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4368	ret = ec_ioctl_voe_read(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4369	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4370	case EC_IOCTL_VOE_READ_NOSYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4371	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4372	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4373	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4374	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4375	ret = ec_ioctl_voe_read_nosync(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4376	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4377	case EC_IOCTL_VOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4378	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4379	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4380	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4381	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4382	ret = ec_ioctl_voe_write(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4383	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4384	case EC_IOCTL_VOE_EXEC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4385	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4386	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4387	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4388	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4389	ret = ec_ioctl_voe_exec(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4390	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4391	case EC_IOCTL_VOE_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4392	ret = ec_ioctl_voe_data(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4393	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4394	case EC_IOCTL_SET_SEND_INTERVAL:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4395	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4396	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4397	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4398	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4399	ret = ec_ioctl_set_send_interval(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4400	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4401	default:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4402	ret = -ENOTTY;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4403	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4404	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4405
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4406	#if DEBUG_LATENCY
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4407	b = get_cycles();
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4408	t = (unsigned int) ((b - a) * 1000LL) / cpu_khz;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4409	if (t > 50) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4410	EC_MASTER_WARN(master, "ioctl(0x%02x) took %u us.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4411	_IOC_NR(cmd), t);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4412	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4413	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4414
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4415	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4416	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4417
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4418	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 06 Feb 2013 17:25:08 +0100
branch	stable-1.5
changeset 2508	6b21b3f88a9a
parent 2505	5ef3197e5e1f
child 2522	ec403cf308eb
permissions	-rw-r--r--