etherlabmaster: master/ioctl.c@74ede087bc85 (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>
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "master.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "slave_config.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "voe_handler.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "ethernet.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "ioctl.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	/** 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	46	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	* Requires CPU timestamp counter!
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	#define DEBUG_LATENCY 0
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	50
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	52
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	/** Copies a string to an ioctl structure.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	static void ec_ioctl_strcpy(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	char target, /< Target. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	const char source /< Source. /
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	if (source) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	strncpy(target, source, EC_IOCTL_STRING_SIZE);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	target[EC_IOCTL_STRING_SIZE - 1] = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	target[0] = 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	69
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	/** Get module information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	static int ec_ioctl_module(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	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	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	ec_ioctl_module_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	77
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	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	79	data.master_count = ec_master_count();
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	80
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	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	82	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	83
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	86
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	/** Get master information.
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	static int ec_ioctl_master(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	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	94	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	{
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	96	ec_ioctl_master_t io;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	97	unsigned int dev_idx, j;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	98
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	99	if (down_interruptible(&master->master_sem)) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	return -EINTR;
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	101	}
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	102
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	103	io.slave_count = master->slave_count;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	104	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	105	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	106	#ifdef EC_EOE
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	107	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	108	#endif
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	109	io.phase = (uint8_t) master->phase;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	110	io.active = (uint8_t) master->active;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	111	io.scan_busy = master->scan_busy;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	112
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	114
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	115	if (down_interruptible(&master->device_sem)) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	return -EINTR;
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	117	}
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	118
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	119	for (dev_idx = EC_DEVICE_MAIN;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	120	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	121	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	122
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	if (device->dev) {
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	124	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	125	ETH_ALEN);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	} else {
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	127	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	128	ETH_ALEN);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	}
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	130	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	131	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	132	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	133	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	134	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	135	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	136	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	137	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	138	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	139	device->tx_frame_rates[j];
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	140	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	141	device->rx_frame_rates[j];
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	142	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	143	device->tx_byte_rates[j];
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	144	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	145	device->rx_byte_rates[j];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	}
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	148	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	149
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	150	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	151	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	152	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	153	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	154	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	155	io.tx_frame_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	156	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	157	io.rx_frame_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	158	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	159	io.tx_byte_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	160	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	161	io.rx_byte_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	162	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	163	io.loss_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	164	master->device_stats.loss_rates[j];
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	166
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	up(&master->device_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	168
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	169	io.app_time = master->app_time;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	170	io.ref_clock =
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	171	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	172
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	173	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	174	return -EFAULT;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	175	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	176
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	179
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	181
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	/** Get slave information.
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	static int ec_ioctl_slave(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	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	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	ec_ioctl_slave_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	int i;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	192
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	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	194	return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	return -EINTR;
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 (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	master, 0, data.position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	203	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	204	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	}
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	data.device_index = slave->device_index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	data.vendor_id = slave->sii.vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	data.product_code = slave->sii.product_code;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	data.revision_number = slave->sii.revision_number;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	data.serial_number = slave->sii.serial_number;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	data.alias = slave->effective_alias;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	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	214	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	215	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	216	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	217	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	218	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	219	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	220	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	221	data.mailbox_protocols = slave->sii.mailbox_protocols;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	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	223	data.coe_details = slave->sii.coe_details;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	data.general_flags = slave->sii.general_flags;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	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	226	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	227	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	228	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	229	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	230	data.ports[i].link.signal_detected =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	slave->ports[i].link.signal_detected;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	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	233	if (slave->ports[i].next_slave) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	234	data.ports[i].next_slave =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	slave->ports[i].next_slave->ring_position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	237	data.ports[i].next_slave = 0xffff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	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	240	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	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	242	data.dc_supported = slave->base_dc_supported;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	243	data.dc_range = slave->base_dc_range;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	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	245	data.transmission_delay = slave->transmission_delay;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	data.al_state = slave->current_state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	data.error_flag = slave->error_flag;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	248
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	data.sync_count = slave->sii.sync_count;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	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	251	data.sii_nwords = slave->sii_nwords;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	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	253	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	254	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	255	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	256
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	258
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	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	260	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	261
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	return 0;
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
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	/** Get slave sync manager information.
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	static int ec_ioctl_slave_sync(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	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	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	ec_ioctl_slave_sync_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	const ec_sync_t *sync;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	277
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	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	279	return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	return -EINTR;
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 (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	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	289	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	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	294	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	295	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	296	data.sync_index);
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	sync = &slave->sii.syncs[data.sync_index];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	301
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	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	303	data.default_size = sync->default_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	data.control_register = sync->control_register;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	305	data.enable = sync->enable;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	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	307
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	309
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	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	311	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	312
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	return 0;
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
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	/** Get slave sync manager PDO information.
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	static int ec_ioctl_slave_sync_pdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	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	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	ec_ioctl_slave_sync_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	327	const ec_sync_t *sync;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	329
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	330	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	331	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	333
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	return -EINTR;
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 (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	338	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	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	341	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	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	346	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	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	348	data.sync_index);
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	sync = &slave->sii.syncs[data.sync_index];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	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	354	&sync->pdos, data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	356	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	357	"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	358	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	359	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	360
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	361	data.index = pdo->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	362	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	363	ec_ioctl_strcpy(data.name, pdo->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	364
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	365	up(&master->master_sem);
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	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	368	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	369
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	370	return 0;
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
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	375	/** Get slave sync manager PDO entry information.
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	static int ec_ioctl_slave_sync_pdo_entry(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	378	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	379	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	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	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	383	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	384	const ec_sync_t *sync;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	385	const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	386	const ec_pdo_entry_t *entry;
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	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	389	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	390	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	391
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	392	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	393	return -EINTR;
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 (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	396	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	398	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	399	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	400	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	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	404	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	405	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	406	data.sync_index);
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	sync = &slave->sii.syncs[data.sync_index];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	411	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	412	&sync->pdos, data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	413	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	414	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	415	"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	416	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	417	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	418
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	419	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	420	pdo, data.entry_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	421	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	422	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	423	"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	424	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	427	data.index = entry->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	428	data.subindex = entry->subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	429	data.bit_length = entry->bit_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	430	ec_ioctl_strcpy(data.name, entry->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	431
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	432	up(&master->master_sem);
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	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	435	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	436
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	437	return 0;
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
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	442	/** Get domain information.
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	static int ec_ioctl_domain(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	445	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	446	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	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	ec_ioctl_domain_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	450	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	451	unsigned int dev_idx;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	452
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	453	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	454	return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	457	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	458	return -EINTR;
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 (!(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	461	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	462	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	463	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	464	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	465
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	466	data.data_size = domain->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	467	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	468	for (dev_idx = EC_DEVICE_MAIN;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	469	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	470	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	471	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	472	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	473	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	474
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	475	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	476
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	477	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	478	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	479
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	480	return 0;
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
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	485	/** Get domain FMMU information.
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	static int ec_ioctl_domain_fmmu(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	488	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	489	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	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	ec_ioctl_domain_fmmu_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	493	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	494	const ec_fmmu_config_t *fmmu;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	495
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	496	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	497	return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	500	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	501	return -EINTR;
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 (!(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	504	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	505	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	506	data.domain_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	507	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	508	}
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 (!(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	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 has less than %u"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	513	" fmmu configurations.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	514	data.domain_index, data.fmmu_index + 1);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	515	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	518	data.slave_config_alias = fmmu->sc->alias;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	519	data.slave_config_position = fmmu->sc->position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	520	data.sync_index = fmmu->sync_index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	521	data.dir = fmmu->dir;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	522	data.logical_address = fmmu->logical_start_address;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	523	data.data_size = fmmu->data_size;
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	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	526
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	527	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	528	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	529
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	530	return 0;
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
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	535	/** Get domain data.
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	static int ec_ioctl_domain_data(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	538	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	539	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	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	ec_ioctl_domain_data_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	543	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	544
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	545	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	546	return -EFAULT;
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	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	550	return -EINTR;
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 (!(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	553	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	554	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	555	data.domain_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	556	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	557	}
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->data_size != data.data_size) {
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, "Data size mismatch %u/%zu!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	562	data.data_size, domain->data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	563	return -EFAULT;
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 (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	567	domain->data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	568	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	569	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	570	}
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	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	573	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	574	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	575
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	576	/*****************************************************************************/
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	/** Set master debug level.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	579	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	580	static int ec_ioctl_master_debug(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	581	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	582	void arg /< ioctl() argument. /
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	return ec_master_debug_level(master, (unsigned int) arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	586	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	587
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	588	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	589
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	590	/** Issue a bus scan.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	591	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	592	static int ec_ioctl_master_rescan(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	593	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	594	void arg /< ioctl() argument. /
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	master->fsm.rescan_required = 1;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	598	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	599	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	600
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	601	/*****************************************************************************/
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	/** Set slave state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	604	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	605	static int ec_ioctl_slave_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	606	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	607	void arg /< ioctl() argument. /
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	ec_ioctl_slave_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	611	ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	612
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	613	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	614	return -EFAULT;
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	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	618	return -EINTR;
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 (!(slave = ec_master_find_slave(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	621	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	622	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	623	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	624	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	625	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	628	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	629
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	630	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	631	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	632	}
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	636	/** Get slave SDO information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	637	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	638	static int ec_ioctl_slave_sdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	639	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	640	void arg /< ioctl() argument. /
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	ec_ioctl_slave_sdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	644	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	645	const ec_sdo_t *sdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	646
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	647	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	648	return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	651	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	652	return -EINTR;
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 (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	655	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	656	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	657	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	658	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	659	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	662	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	663	slave, data.sdo_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	664	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	665	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	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	data.sdo_index = sdo->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	670	data.max_subindex = sdo->max_subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	671	ec_ioctl_strcpy(data.name, sdo->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	672
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	673	up(&master->master_sem);
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	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	676	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	677
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	678	return 0;
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
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	683	/** Get slave SDO entry information.
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	static int ec_ioctl_slave_sdo_entry(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	686	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	687	void arg /< ioctl() argument. /
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	ec_ioctl_slave_sdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	691	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	692	const ec_sdo_t *sdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	693	const ec_sdo_entry_t *entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	694
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	695	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	696	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	697	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	698
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	699	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	700	return -EINTR;
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 (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	703	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	704	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	705	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	706	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	707	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	710	if (data.sdo_spec <= 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	711	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	712	slave, -data.sdo_spec))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	713	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	714	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	715	return -EINVAL;
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	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	718	if (!(sdo = ec_slave_get_sdo_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 0x%04X does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	722	data.sdo_spec);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	723	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	724	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	725	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	726
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	727	if (!(entry = ec_sdo_get_entry_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	728	sdo, data.sdo_entry_subindex))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	729	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	730	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	731	sdo->index, data.sdo_entry_subindex);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	732	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	735	data.data_type = entry->data_type;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	736	data.bit_length = entry->bit_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	737	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	738	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	739	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	740	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	741	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	742	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	743	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	744	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	745	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	746	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	747	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	748	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	749	ec_ioctl_strcpy(data.description, entry->description);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	750
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	751	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	752
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	753	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	754	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	755
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	756	return 0;
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
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	761	/** Upload SDO.
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	static int ec_ioctl_slave_sdo_upload(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	764	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	765	void arg /< ioctl() argument. /
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	ec_ioctl_slave_sdo_upload_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	769	uint8_t *target;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	770	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	771
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	772	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	773	return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	776	if (!(target = kmalloc(data.target_size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	777	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	778	" for SDO upload.\n", data.target_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	779	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	780	}
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	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	783	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	784	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	785
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	786	if (!ret) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	787	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	788	target, data.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	789	kfree(target);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	790	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	791	}
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	794	kfree(target);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	795
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	796	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	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	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	801	}
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	804
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	805	/** Download SDO.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	806	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	807	static int ec_ioctl_slave_sdo_download(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	808	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	809	void arg /< ioctl() argument. /
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	ec_ioctl_slave_sdo_download_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	813	uint8_t *sdo_data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	814	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	815
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	816	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	817	return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	820	if (!(sdo_data = kmalloc(data.data_size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	821	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	822	" for SDO download.\n", data.data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	823	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	824	}
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	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	827	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	828	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	829	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	830
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	831	if (data.complete_access) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	832	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	833	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	834	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	835	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	836	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	837	data.data_size, &data.abort_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	838	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	839
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	840	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	841
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	842	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	843	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	844	}
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	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	847	}
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	850
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	851	/** Read a slave's SII.
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	static int ec_ioctl_slave_sii_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	854	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	855	void arg /< ioctl() argument. /
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	ec_ioctl_slave_sii_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	859	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	860	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	861
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	862	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	863	return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	866	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	867	return -EINTR;
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 (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	870	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	871	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	872	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	873	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	874	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	877	if (!data.nwords
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	878	\|\| data.offset + data.nwords > slave->sii_nwords) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	879	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	880	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	881	" 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	882	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	885	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	886	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	887	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	888	else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	889	retval = 0;
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	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	892	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	893	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	894
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	895	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	896
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	897	/** Write a slave's SII.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	898	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	899	static int ec_ioctl_slave_sii_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	900	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	901	void arg /< ioctl() argument. /
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	ec_ioctl_slave_sii_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	905	ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	906	unsigned int byte_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	907	uint16_t *words;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	908	ec_sii_write_request_t request;
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	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	911	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	912	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	913
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	914	if (!data.nwords) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	915	return 0;
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	916	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	917
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	918	byte_size = sizeof(uint16_t) * data.nwords;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	919	if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	920	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	921	" for SII contents.\n", byte_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	922	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	923	}
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	if (copy_from_user(words,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	926	(void __user *) data.words, byte_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	927	kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	928	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	929	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	930
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	931	if (down_interruptible(&master->master_sem)) {
74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	932	kfree(words);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	933	return -EINTR;
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	934	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	935
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	936	if (!(slave = ec_master_find_slave(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	937	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	938	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	939	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	940	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	941	kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	942	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	943	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	944
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	945	// init SII write request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	946	INIT_LIST_HEAD(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	947	request.slave = slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	948	request.words = words;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	949	request.offset = data.offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	950	request.nwords = data.nwords;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	951	request.state = EC_INT_REQUEST_QUEUED;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	952
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	953	// schedule SII write request.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	954	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	955
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	956	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	957
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	958	// wait for processing through FSM
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	959	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	960	request.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	961	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	962	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	963	if (request.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	964	// abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	965	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	966	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	967	kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	968	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	969	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	970	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	971	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	972
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	973	// wait until master FSM has finished processing
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	974	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	975
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	976	kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	977
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	978	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	979	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	980
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	981	/*****************************************************************************/
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	/** Read a slave's registers.
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	static int ec_ioctl_slave_reg_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	986	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	987	void arg /< ioctl() argument. /
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	{
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	990	ec_ioctl_slave_reg_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	991	ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	992	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	993	int ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	994
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	995	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	996	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	997	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	998
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	999	if (!io.size) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1000	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	1001	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1002
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1003	// 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	1004	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	1005	if (ret) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1006	return ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1007	}
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	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	1010
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1011	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	1012	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1013	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	1014	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1015
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1016	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	1017	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	1018	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	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	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	1021	io.slave_position);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1022	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1023	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1024
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1025	// 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	1026	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	1027
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1028	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1029
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1030	// wait for processing through FSM
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	1031	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	1032	request.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1033	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1034	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1035	if (request.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1036	// abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1037	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1038	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	1039	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1040	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1041	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1042	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1043	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1044
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1045	// wait until master FSM has finished processing
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	1046	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	1047
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1048	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	1049	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	1050	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	1051	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1052	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1053	ec_reg_request_clear(&request);
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	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	1056	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1057
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1058	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1059
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1060	/** Write a slave's registers.
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	static int ec_ioctl_slave_reg_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1063	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1064	void arg /< ioctl() argument. /
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	{
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1067	ec_ioctl_slave_reg_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1068	ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1069	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	1070	int ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1071
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1072	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	1073	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1074	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1075
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1076	if (!io.size) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1077	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	1078	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1079
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1080	// 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	1081	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	1082	if (ret) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1083	return ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1084	}
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	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	1087	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	1088	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1089	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1090
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1091	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	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 (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	1094	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1095	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	1096	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1097
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	1098	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	1099	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	1100	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1101	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	1102	io.slave_position);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1103	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1104	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1105
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1106	// 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	1107	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	1108
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1109	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1110
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1111	// wait for processing through FSM
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	1112	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	1113	request.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1114	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1115	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1116	if (request.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1117	// abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1118	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1119	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	1120	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1121	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1122	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1123	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1124	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1125
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1126	// wait until master FSM has finished processing
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	1127	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	1128
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1129	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1130
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1131	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	1132	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1133
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1134	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1135
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1136	/** Get slave configuration information.
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	static int ec_ioctl_config(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1139	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1140	void arg /< ioctl() argument. /
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	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1144	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1145	uint8_t i;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1146
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1147	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	1148	return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1151	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1152	return -EINTR;
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 (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1155	master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1156	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1157	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	1158	data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1159	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1162	data.alias = sc->alias;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1163	data.position = sc->position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1164	data.vendor_id = sc->vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1165	data.product_code = sc->product_code;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1166	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	1167	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	1168	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	1169	data.syncs[i].pdo_count =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1170	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	1171	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1172	data.watchdog_divider = sc->watchdog_divider;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1173	data.watchdog_intervals = sc->watchdog_intervals;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1174	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	1175	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	1176	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	1177	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	1178	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	1179	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	1180	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1181
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1182	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1183
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1184	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	1185	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1186
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1187	return 0;
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
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1192	/** Get slave configuration PDO information.
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	static int ec_ioctl_config_pdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1195	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1196	void arg /< ioctl() argument. /
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	ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1200	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1201	const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1202
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1203	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	1204	return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1207	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	1208	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	1209	data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1210	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1211	}
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	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1214	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1215
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1216	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1217	master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1218	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1219	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	1220	data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1221	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1224	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	1225	&sc->sync_configs[data.sync_index].pdos,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1226	data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1227	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1228	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	1229	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1232	data.index = pdo->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1233	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	1234	ec_ioctl_strcpy(data.name, pdo->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1235
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1236	up(&master->master_sem);
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	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	1239	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1240
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1241	return 0;
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
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1246	/** Get slave configuration PDO entry information.
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	static int ec_ioctl_config_pdo_entry(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1249	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1250	void arg /< ioctl() argument. /
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	ec_ioctl_config_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1254	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1255	const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1256	const ec_pdo_entry_t *entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1257
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1258	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	1259	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1260	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1261
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1262	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	1263	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	1264	data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1265	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1266	}
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	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1269	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1270
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1271	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1272	master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1273	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1274	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	1275	data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1276	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1279	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	1280	&sc->sync_configs[data.sync_index].pdos,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1281	data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1282	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1283	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	1284	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1287	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	1288	pdo, data.entry_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, "Entry not found!\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	data.index = entry->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1295	data.subindex = entry->subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1296	data.bit_length = entry->bit_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1297	ec_ioctl_strcpy(data.name, entry->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1298
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1299	up(&master->master_sem);
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	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	1302	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1303
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1304	return 0;
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
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1309	/** Get slave configuration SDO information.
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	static int ec_ioctl_config_sdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1312	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1313	void arg /< ioctl() argument. /
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	ec_ioctl_config_sdo_t *ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1317	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1318	const ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1319
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1320	if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1321	return -ENOMEM;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1324	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	1325	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1326	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1327	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1328
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1329	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1330	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1331	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1332	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1333
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1334	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1335	master, ioctl->config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1336	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1337	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	1338	ioctl->config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1339	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1340	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1341	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1342
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1343	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	1344	sc, ioctl->sdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1345	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1346	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	1347	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1348	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1351	ioctl->index = req->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1352	ioctl->subindex = req->subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1353	ioctl->size = req->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1354	memcpy(ioctl->data, req->data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1355	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	1356	ioctl->complete_access = req->complete_access;
2433 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	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1359
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1360	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	1361	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1362	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1363	}
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	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1366	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1367	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1368
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1369	/*****************************************************************************/
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	/** Get slave configuration IDN information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1372	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1373	static int ec_ioctl_config_idn(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1374	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1375	void arg /< ioctl() argument. /
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	ec_ioctl_config_idn_t *ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1379	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1380	const ec_soe_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1381
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1382	if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1383	return -ENOMEM;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1386	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	1387	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1388	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1389	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1390
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1391	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1392	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1393	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1394	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1395
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1396	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1397	master, ioctl->config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1398	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1399	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	1400	ioctl->config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1401	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1402	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1403	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1404
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1405	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	1406	sc, ioctl->idn_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1407	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1408	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	1409	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1410	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1413	ioctl->drive_no = req->drive_no;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1414	ioctl->idn = req->idn;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1415	ioctl->state = req->state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1416	ioctl->size = req->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1417	memcpy(ioctl->data, req->data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1418	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	1419
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1420	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1421
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1422	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	1423	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1424	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1425	}
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	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1428	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1429	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1430
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1431	/*****************************************************************************/
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	#ifdef EC_EOE
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1434
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1435	/** Get EoE handler information.
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	static int ec_ioctl_eoe_handler(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1438	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1439	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1440	)
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	ec_ioctl_eoe_handler_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1443	const ec_eoe_t *eoe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1444
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1445	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	1446	return -EFAULT;
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	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1450	return -EINTR;
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 (!(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	1453	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1454	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	1455	data.eoe_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1456	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1457	}
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->slave) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1460	data.slave_position = eoe->slave->ring_position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1461	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1462	data.slave_position = 0xffff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1463	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1464	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	1465	data.open = eoe->opened;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1466	data.rx_bytes = eoe->stats.tx_bytes;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1467	data.rx_rate = eoe->tx_rate;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1468	data.tx_bytes = eoe->stats.rx_bytes;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1469	data.tx_rate = eoe->tx_rate;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1470	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	1471	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	1472
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1473	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1474
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1475	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	1476	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1477
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1478	return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1481	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1482
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1483	/*****************************************************************************/
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	/** Request the master from userspace.
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	static int ec_ioctl_request(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1488	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1489	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1490	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	1491	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1492	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1493	ec_master_t *m;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1494	int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1495
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1496	m = ecrt_request_master_err(master->index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1497	if (IS_ERR(m)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1498	ret = PTR_ERR(m);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1499	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1500	ctx->requested = 1;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1501	}
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	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1504	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1505
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1506	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1507
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1508	/** Create a domain.
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	static int ec_ioctl_create_domain(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1511	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1512	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1513	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	1514	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1515	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1516	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1517
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1518	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1519	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1520
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1521	domain = ecrt_master_create_domain_err(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1522	if (IS_ERR(domain))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1523	return PTR_ERR(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	return domain->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1526	}
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1529
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1530	/** Create a slave configuration.
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	static int ec_ioctl_create_slave_config(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1533	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1534	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1535	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	1536	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1537	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1538	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1539	ec_slave_config_t sc, entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1540
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1541	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1542	return -EPERM;
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	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	1545	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1546	}
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	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	1549	data.vendor_id, data.product_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1550	if (IS_ERR(sc))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1551	return PTR_ERR(sc);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1552
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1553	data.config_index = 0;
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	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1556	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1557
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1558	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	1559	if (entry == sc)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1560	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1561	data.config_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1562	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1563
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1564	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1565
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1566	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	1567	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1568
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1569	return 0;
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
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
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1574	/** 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	1575	*/
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1576	static int 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	1577	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	1578	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	1579	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	1580	)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1581	{
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1582	uint32_t config_index = (uint32_t) arg;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1583	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	1584	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	1585
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1586	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	1587	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	1588	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	1589	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1590
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1591	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	1592	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	1593	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	1594	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1595
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1596	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	1597	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	1598	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	1599	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	1600	}
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	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	1604
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1605	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	1606	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	1607	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	1608	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	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
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
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1613	/** Activates the master.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1614	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1615	static int ec_ioctl_activate(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1616	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1617	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1618	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	1619	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1620	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1621	ec_ioctl_master_activate_t io;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1622	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1623	off_t offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1624	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1625
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1626	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1627	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1628
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1629	io.process_data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1630
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1631	/* 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	1632
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1633	ctx->process_data_size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1634
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1635	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1636	return -EINTR;
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	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	1639	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	1640	}
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	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1643
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1644	if (ctx->process_data_size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1645	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	1646	if (!ctx->process_data) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1647	ctx->process_data_size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1648	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1649	}
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	/* 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	1652	* domains.
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1653	*/
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1654	offset = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1655	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	1656	ecrt_domain_external_memory(domain,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1657	ctx->process_data + offset);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1658	offset += ecrt_domain_size(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1659	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1660
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1661	#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	1662	/* 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	1663	* 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	1664	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1665	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	1666	if (ret < 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1667	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	1668	" 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	1669	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1670	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1671	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1672	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1673
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1674	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	1675
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1676	#ifndef EC_IOCTL_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1677	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	1678	ec_master_internal_receive_cb, master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1679	#endif
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	ret = ecrt_master_activate(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1682	if (ret < 0)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1683	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1684
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1685	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	1686	sizeof(ec_ioctl_master_activate_t)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1687	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1688
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1689	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1690	}
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1693
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1694	/** Deactivates the master.
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	static int ec_ioctl_deactivate(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1697	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1698	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1699	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	1700	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1701	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1702	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1703	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1704
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1705	ecrt_master_deactivate(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1706	return 0;
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1710
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1711	/** 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	1712	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1713	static int ec_ioctl_set_send_interval(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1714	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1715	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1716	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	1717	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1718	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1719	size_t send_interval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1720
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1721	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	1722	sizeof(send_interval))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1723	return -EFAULT;
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	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1727	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1728
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1729	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	1730
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1731	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1732	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1733	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1734
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	/** Send frames.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1738	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1739	static int ec_ioctl_send(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1740	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1741	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1742	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	1743	)
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	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1746	return -EPERM;
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	down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1749	ecrt_master_send(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1750	up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1751	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1752	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1753
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1756	/** Receive frames.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1757	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1758	static int ec_ioctl_receive(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1759	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1760	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1761	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	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	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1765	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1766
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1767	down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1768	ecrt_master_receive(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1769	up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1770	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1771	}
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1774
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1775	/** Get the master state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1776	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1777	static int ec_ioctl_master_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1778	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1779	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1780	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	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	ec_master_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1784
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1785	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1786	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1787
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1788	ecrt_master_state(master, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1789
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1790	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	1791	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1792
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1793	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1794	}
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1797
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1798	/** Get the master state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1799	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1800	static int ec_ioctl_master_link_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1801	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1802	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1803	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	1804	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1805	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1806	ec_ioctl_link_state_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1807	ec_master_link_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1808	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1809
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1810	if (unlikely(!ctx->requested)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1811	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1812	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1813
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1814	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	1815	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1816	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1817
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1818	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	1819	if (ret < 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1820	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1821	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1822
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1823	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	1824	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1825	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1826
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1827	return 0;
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
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	/** Set the master dc app time.
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	static int ec_ioctl_app_time(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1835	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1836	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1837	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	1838	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1839	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1840	ec_ioctl_app_time_t data;
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	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1843	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1844
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1845	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	1846	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1847	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1848
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1849	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	1850	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1851	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1852
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	/** Sync the reference clock.
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	static int ec_ioctl_sync_ref(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1858	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1859	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1860	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	1861	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1862	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1863	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1864	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1865
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1866	down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1867	ecrt_master_sync_reference_clock(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1868	up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1869	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1870	}
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	/** Sync the slave clocks.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1875	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1876	static int ec_ioctl_sync_slaves(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1877	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1878	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1879	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	1880	)
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	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1883	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1884
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1885	down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1886	ecrt_master_sync_slave_clocks(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1887	up(&master->io_sem);
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	*/
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1895	static int 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	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	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1924	static int ec_ioctl_sync_mon_queue(
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	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1930	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1931	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1932
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1933	down(&master->io_sem);
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	up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1936	return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1941	/** Processes the sync monitoring datagram.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1942	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1943	static int ec_ioctl_sync_mon_process(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1944	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1945	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1946	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	1947	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1948	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1949	uint32_t time_diff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1950
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1951	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1952	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1953
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1954	down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1955	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	1956	up(&master->io_sem);
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	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	1959	return -EFAULT;
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	return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1964	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1965
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1966	/** Reset configuration.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1967	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1968	static int ec_ioctl_reset(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1969	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1970	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1971	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	1972	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1973	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1974	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1975	return -EPERM;
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	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1978	ecrt_master_reset(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1979	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1980	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1981	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1982
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1983	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1984
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1985	/** Configure a sync manager.
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	static int ec_ioctl_sc_sync(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1988	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1989	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1990	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	1991	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1992	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1993	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1994	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1995	unsigned int i;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1996	int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1997
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1998	if (unlikely(!ctx->requested)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1999	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2000	goto out_return;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2003	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	2004	ret = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2005	goto out_return;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2008	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2009	ret = -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2010	goto out_return;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2013	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	2014	ret = -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2015	goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2016	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2017
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2018	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	2019	if (data.syncs[i].config_this) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2020	if (ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2021	data.syncs[i].watchdog_mode)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2022	ret = -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2023	goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2024	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2025	}
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	out_up:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2029	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2030	out_return:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2031	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2032	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2033
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2034	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2035
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2036	/** Configure a slave's watchdogs.
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	static int ec_ioctl_sc_watchdog(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2039	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2040	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2041	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	2042	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2043	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2044	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2045	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2046	int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2047
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2048	if (unlikely(!ctx->requested)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2049	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2050	goto out_return;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2053	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	2054	ret = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2055	goto out_return;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2058	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2059	ret = -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2060	goto out_return;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2063	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	2064	ret = -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2065	goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2066	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2067
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2068	ecrt_slave_config_watchdog(sc,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2069	data.watchdog_divider, data.watchdog_intervals);
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	out_up:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2072	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2073	out_return:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2074	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2075	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2076
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2077	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2078
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2079	/** Add a PDO to the assignment.
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	static int ec_ioctl_sc_add_pdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2082	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2083	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2084	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	2085	)
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	ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2088	ec_slave_config_t *sc;
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 (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2091	return -EPERM;
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 (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	2094	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2095
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2096	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2097	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2098
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2099	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	2100	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2101	return -ENOENT;
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	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	2105
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2106	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	2107	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2108
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2109	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2110
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2111	/** Clears the PDO assignment.
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	static int ec_ioctl_sc_clear_pdos(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2114	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2115	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2116	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	2117	)
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	ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2120	ec_slave_config_t *sc;
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 (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2123	return -EPERM;
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 (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	2126	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2127
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2128	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2129	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2130
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2131	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	2132	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2133	return -ENOENT;
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	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	2137
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2138	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	2139	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2140	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2141
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2142	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2143
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2144	/** 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	2145	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2146	static int ec_ioctl_sc_add_entry(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2147	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2148	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2149	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	2150	)
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	ec_ioctl_add_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2153	ec_slave_config_t *sc;
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 (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2156	return -EPERM;
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 (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	2159	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2160
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2161	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2162	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2163
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2164	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	2165	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2166	return -ENOENT;
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	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	2170
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2171	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	2172	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	2173	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2174
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2175	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2176
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2177	/** Clears the mapping of a PDO.
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	static int ec_ioctl_sc_clear_entries(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2180	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2181	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2182	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	2183	)
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	ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2186	ec_slave_config_t *sc;
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 (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2189	return -EPERM;
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 (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	2192	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2193
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2194	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2195	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2196
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2197	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	2198	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2199	return -ENOENT;
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	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	2203
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2204	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	2205	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2206	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2207
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2208	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2209
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2210	/** Registers a PDO entry.
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	static int ec_ioctl_sc_reg_pdo_entry(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2213	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2214	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2215	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	2216	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2217	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2218	ec_ioctl_reg_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2219	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2220	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2221	int ret;
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 (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2224	return -EPERM;
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 (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	2227	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2228
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2229	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2230	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2231
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2232	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	2233	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2234	return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2237	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	2238	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2239	return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2242	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	2243
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2244	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	2245	data.entry_subindex, domain, &data.bit_position);
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	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	2248	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2249
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2250	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2251	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2252
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2253	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2254
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2255	/** 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	2256	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2257	static int ec_ioctl_sc_dc(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2258	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2259	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2260	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	2261	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2262	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2263	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2264	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2265
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2266	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2267	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2268
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2269	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	2270	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2271
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2272	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2273	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2274
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2275	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	2276	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2277	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2278	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2279
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2280	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	2281	data.dc_sync[0].cycle_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2282	data.dc_sync[0].shift_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2283	data.dc_sync[1].cycle_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2284	data.dc_sync[1].shift_time);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2285
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2286	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2287
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2288	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2289	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2290
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2291	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2292
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2293	/** Configures an SDO.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2294	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2295	static int ec_ioctl_sc_sdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2296	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2297	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2298	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	2299	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2300	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2301	ec_ioctl_sc_sdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2302	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2303	uint8_t *sdo_data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2304	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2305
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2306	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2307	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2308
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2309	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	2310	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2311
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2312	if (!data.size)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2313	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2314
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2315	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	2316	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2317	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2318
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2319	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	2320	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2321	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2322	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2323
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2324	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2325	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2326	return -EINTR;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2329	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	2330	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2331	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2332	return -ENOENT;
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	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	2336
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2337	if (data.complete_access) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2338	ret = ecrt_slave_config_complete_sdo(sc,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2339	data.index, sdo_data, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2340	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2341	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	2342	data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2343	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2344	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2345	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2346	}
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2349
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2350	/** Set the emergency ring buffer size.
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2351	*/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2352	static int ec_ioctl_sc_emerg_size(
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2353	ec_master_t master, /< EtherCAT master. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2354	void arg, /< ioctl() argument. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2355	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	2356	)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2357	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2358	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2359	ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2360	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2361
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2362	if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2363	return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2364
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2365	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	2366	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2367
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2368	if (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2369	return -EINTR;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2370	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2371
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2372	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	2373	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2374	return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2375	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2376
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2377	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	2378
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2379	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2380
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2381	return ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2382	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2383
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2384	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2385
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2386	/** 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	2387	*/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2388	static int ec_ioctl_sc_emerg_pop(
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2389	ec_master_t master, /< EtherCAT master. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2390	void arg, /< ioctl() argument. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2391	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	2392	)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2393	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2394	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2395	ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2396	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	2397	int ret;
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	if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2400	return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2401
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2402	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	2403	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2404
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2405	if (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2406	return -EINTR;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2407	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2408
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2409	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	2410	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2411	return -ENOENT;
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	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	2415
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2416	up(&master->master_sem);
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	if (ret < 0) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2419	return ret;
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
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2422	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	2423	return -EFAULT;
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	return ret;
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
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2429	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2430
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2431	/** Clear the emergency ring.
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2432	*/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2433	static int ec_ioctl_sc_emerg_clear(
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2434	ec_master_t master, /< EtherCAT master. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2435	void arg, /< ioctl() argument. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2436	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	2437	)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2438	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2439	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2440	ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2441	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2442
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2443	if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2444	return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2445
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2446	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	2447	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2448
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2449	if (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2450	return -EINTR;
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
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2453	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	2454	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2455	return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2456	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2457
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2458	ret = ecrt_slave_config_emerg_clear(sc);
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	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2461
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2462	return ret;
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	/*****************************************************************************/
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	/** Get the number of emergency overruns.
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	static int ec_ioctl_sc_emerg_overruns(
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2470	ec_master_t master, /< EtherCAT master. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2471	void arg, /< ioctl() argument. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2472	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	2473	)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2474	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2475	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2476	ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2477	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2478
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2479	if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2480	return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2481
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2482	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	2483	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2484
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2485	if (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2486	return -EINTR;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2487	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2488
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2489	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	2490	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2491	return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2492	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2493
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2494	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	2495
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2496	up(&master->master_sem);
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	if (ret < 0) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2499	return ret;
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
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2502	io.overruns = ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2503
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2504	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	2505	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2506	}
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	return 0;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2509	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2510
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2511	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2512
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2513	/** Create an SDO request.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2514	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2515	static int ec_ioctl_sc_create_sdo_request(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2516	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2517	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2518	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	2519	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2520	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2521	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2522	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2523	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2524
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2525	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2526	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2527
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2528	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	2529	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2530	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2531
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2532	data.request_index = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2533
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2534	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2535	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2536
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2537	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	2538	if (!sc) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2539	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2540	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2541	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2542
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2543	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	2544	data.request_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2545	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2546
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2547	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	2548
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2549	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	2550	data.sdo_subindex, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2551	if (IS_ERR(req))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2552	return PTR_ERR(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2553
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2554	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	2555	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2556
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2557	return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2560	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2561
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2562	/** 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	2563	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2564	static int ec_ioctl_sc_create_reg_request(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2565	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	2566	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	2567	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	2568	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2569	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2570	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	2571	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	2572	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	2573
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2574	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	2575	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2576	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2577
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2578	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	2579	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2580	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2581
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2582	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	2583
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2584	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	2585	return -EINTR;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2586	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2587
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2588	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	2589	if (!sc) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2590	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	2591	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2592	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2593
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2594	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	2595	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	2596	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2597
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2598	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	2599
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2600	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	2601	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	2602	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	2603	}
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 (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	2606	return -EFAULT;
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	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2610	}
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
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2614	/** Create a VoE handler.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2615	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2616	static int ec_ioctl_sc_create_voe_handler(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2617	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2618	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2619	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	2620	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2621	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2622	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2623	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2624	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2625
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2626	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2627	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2628
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2629	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	2630	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2631	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2632
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2633	data.voe_index = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2634
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2635	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2636	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2637
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2638	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	2639	if (!sc) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2640	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2641	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2642	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2643
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2644	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	2645	data.voe_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2646	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2647
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2648	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	2649
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2650	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	2651	if (IS_ERR(voe))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2652	return PTR_ERR(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2653
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2654	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	2655	return -EFAULT;
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	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2658	}
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2661
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2662	/** Get the slave configuration's state.
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	static int ec_ioctl_sc_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2665	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2666	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2667	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	2668	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2669	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2670	ec_ioctl_sc_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2671	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2672	ec_slave_config_state_t state;
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	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2675	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2676
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2677	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	2678	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2679	}
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	/* 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	2682	* meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2683
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2684	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	2685	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2686	}
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	ecrt_slave_config_state(sc, &state);
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	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	2691	return -EFAULT;
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	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2694	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2695
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2696	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2697
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2698	/** Configures an IDN.
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	static int ec_ioctl_sc_idn(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2701	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2702	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2703	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	2704	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2705	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2706	ec_ioctl_sc_idn_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2707	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2708	uint8_t *data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2709	int ret;
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	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2712	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2713
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2714	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	2715	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2716
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2717	if (!ioctl.size)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2718	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2719
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2720	if (!(data = kmalloc(ioctl.size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2721	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2722	}
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	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	2725	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2726	return -EFAULT;
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	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2730	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2731	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2732	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2733
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2734	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	2735	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2736	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2737	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2738	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2739
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2740	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	2741
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2742	ret = ecrt_slave_config_idn(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2743	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	2744	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2745	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2746	}
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2749
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2750	/** 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	2751	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2752	static int ec_ioctl_domain_offset(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2753	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2754	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2755	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	2756	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2757	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2758	int offset = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2759	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2760
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2761	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2762	return -EPERM;
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	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2765	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2766	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2767
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2768	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	2769	if (domain->index == (unsigned int) arg) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2770	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2771	return offset;
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	offset += ecrt_domain_size(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2774	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2775
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2776	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2777	return -ENOENT;
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2781
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2782	/** Process the domain.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2783	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2784	static int ec_ioctl_domain_process(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2785	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2786	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2787	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	2788	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2789	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2790	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2791
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2792	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2793	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2794
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2795	/* 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	2796	* the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2797
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2798	if (!(domain = ec_master_find_domain(master, (unsigned int) arg))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2799	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2800	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2801
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2802	ecrt_domain_process(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2803	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2804	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2805
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2806	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2807
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2808	/** Queue the domain.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2809	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2810	static int ec_ioctl_domain_queue(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2811	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2812	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2813	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	2814	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2815	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2816	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2817
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2818	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2819	return -EPERM;
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	/* 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	2822	* the meantime. */
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 (!(domain = ec_master_find_domain(master, (unsigned int) arg))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2825	return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2828	ecrt_domain_queue(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2829	return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2832	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2833
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2834	/** Get the domain state.
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	static int ec_ioctl_domain_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2837	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2838	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2839	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	2840	)
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	ec_ioctl_domain_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2843	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2844	ec_domain_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2845
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2846	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2847	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2848
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2849	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	2850	return -EFAULT;
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	/* 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	2854	* the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2855
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2856	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	2857	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2858	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2859
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2860	ecrt_domain_state(domain, &state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2861
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2862	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	2863	return -EFAULT;
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	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2866	}
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
2434 fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2870	/** 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	2871	*/
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2872	static int 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	2873	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	2874	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	2875	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	2876	)
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2877	{
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2878	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	2879	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	2880	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	2881
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2882	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	2883	return -EPERM;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2884
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2885	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	2886	return -EFAULT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2887
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2888	/* 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	2889	* 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	2890
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2891	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	2892	return -ENOENT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2893	}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2894
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2895	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	2896	return -ENOENT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2897	}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2898
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2899	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	2900	return 0;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2901	}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2902
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2903	/*****************************************************************************/
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2904
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2905	/** Sets an SDO request's timeout.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2906	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2907	static int ec_ioctl_sdo_request_timeout(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2908	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2909	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2910	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	2911	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2912	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2913	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2914	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2915	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2916
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2917	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2918	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2919
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2920	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	2921	return -EFAULT;
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	/* 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	2924	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2925
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2926	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	2927	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2928	}
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	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	2931	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2932	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2933
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2934	ecrt_sdo_request_timeout(req, data.timeout);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2935	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2936	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2937
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2938	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2939
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2940	/** Gets an SDO request's state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2941	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2942	static int ec_ioctl_sdo_request_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2943	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2944	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2945	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	2946	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2947	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2948	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2949	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2950	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2951
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2952	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2953	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2954
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2955	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	2956	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2957
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2958	/* 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	2959	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2960
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2961	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	2962	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2963	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2964
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2965	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	2966	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2967	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2968
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2969	data.state = ecrt_sdo_request_state(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2970	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	2971	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	2972	else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2973	data.size = 0;
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	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	2976	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2977
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2978	return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2981	/*****************************************************************************/
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	/** Starts an SDO read operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2984	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2985	static int ec_ioctl_sdo_request_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2986	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2987	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2988	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	2989	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2990	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2991	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2992	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2993	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2994
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2995	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2996	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2997
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2998	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	2999	return -EFAULT;
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	/* 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	3002	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3003
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3004	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	3005	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3006	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3007
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3008	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	3009	return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3012	ecrt_sdo_request_read(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3013	return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3016	/*****************************************************************************/
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	/** Starts an SDO write operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3019	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3020	static int ec_ioctl_sdo_request_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3021	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3022	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3023	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	3024	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3025	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3026	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3027	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3028	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3029	int ret;
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	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3032	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3033
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3034	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	3035	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3036
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3037	if (!data.size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3038	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	3039	return -EINVAL;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3042	/* 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	3043	* deleted in the meantime. */
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	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	3046	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3047	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3048
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3049	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	3050	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3051	}
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	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	3054	if (ret)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3055	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3056
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3057	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	3058	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3059
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3060	req->data_size = data.size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3061	ecrt_sdo_request_write(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3062	return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3065	/*****************************************************************************/
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	/** Read SDO data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3068	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3069	static int ec_ioctl_sdo_request_data(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3070	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3071	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3072	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	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	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3076	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3077	ec_sdo_request_t *req;
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	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3080	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3081
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3082	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	3083	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3084
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3085	/* 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	3086	* deleted in the meantime. */
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	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	3089	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3090	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3091
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3092	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	3093	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3094	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3095
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3096	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	3097	ecrt_sdo_request_data_size(req)))
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	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3101	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3102
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
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3105	/** 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	3106	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3107	static int 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	3108	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	3109	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	3110	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	3111	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3112	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3113	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	3114	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	3115	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	3116
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3117	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	3118	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3119	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3120
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3121	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	3122	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3123	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3124
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3125	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	3126	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3127	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3128
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3129	/* 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	3130	* 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	3131
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3132	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	3133	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3134	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3135
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3136	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	3137	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3138	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3139
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3140	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	3141	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	3142	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3143	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3144
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3145	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3146	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3147
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3148	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3149
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3150	/** 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	3151	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3152	static int 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	3153	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	3154	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	3155	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	3156	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3157	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3158	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	3159	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	3160	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	3161
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3162	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	3163	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3164	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3165
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3166	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	3167	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3168	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3169
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3170	/* 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	3171	* 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	3172
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3173	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	3174	return -ENOENT;
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
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3177	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	3178	return -ENOENT;
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
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3181	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	3182	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	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_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	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	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3189	}
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
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3193	/** 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	3194	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3195	static int 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	3196	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	3197	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	3198	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	3199	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3200	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3201	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	3202	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	3203	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	3204
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3205	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	3206	return -EPERM;
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
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3209	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	3210	return -EFAULT;
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	/* 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	3214	* 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	3215
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3216	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	3217	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3218	}
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	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	3221	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3222	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3223
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3224	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	3225	return -EOVERFLOW;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3226	}
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	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	3229	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	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	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	3234	return 0;
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
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3237	/*****************************************************************************/
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	/** 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	3240	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3241	static int 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	3242	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	3243	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	3244	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	3245	)
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	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	3248	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	3249	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	3250
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3251	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	3252	return -EPERM;
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	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	3256	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3257	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3258
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3259	/* 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	3260	* 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	3261
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3262	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	3263	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3264	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3265
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3266	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	3267	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3268	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3269
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3270	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	3271	return -EOVERFLOW;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3272	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3273
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3274	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	3275	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3276	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3277
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
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3280	/** Sets the VoE send header.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3281	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3282	static int ec_ioctl_voe_send_header(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3283	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3284	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3285	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	3286	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3287	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3288	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3289	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3290	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3291	uint32_t vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3292	uint16_t vendor_type;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3293
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3294	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3295	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3296
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3297	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	3298	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3299
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3300	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	3301	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3302
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3303	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	3304	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3305
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3306	/* 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	3307	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3308
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3309	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	3310	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3311	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3312
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3313	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	3314	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3315	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3316
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3317	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	3318	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3319	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3320
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3321	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3322
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3323	/** Gets the received VoE header.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3324	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3325	static int ec_ioctl_voe_rec_header(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3326	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3327	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3328	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	3329	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3330	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3331	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3332	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3333	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3334	uint32_t vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3335	uint16_t vendor_type;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3336
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3337	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3338	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3339
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3340	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	3341	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3342
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3343	/* 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	3344	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3345
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3346	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	3347	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3348	}
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	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	3351	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3352	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3353
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3354	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	3355
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3356	if (likely(data.vendor_id))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3357	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	3358	return -EFAULT;
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 (likely(data.vendor_type))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3361	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	3362	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3363
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3364	return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3367	/*****************************************************************************/
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	/** Starts a VoE read operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3370	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3371	static int ec_ioctl_voe_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3372	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3373	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3374	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	3375	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3376	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3377	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3378	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3379	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3380
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3381	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3382	return -EPERM;
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	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	3385	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3386
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3387	/* 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	3388	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3389
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3390	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	3391	return -ENOENT;
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	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	3395	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3396	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3397
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3398	ecrt_voe_handler_read(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3399	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3400	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3401
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3404	/** 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	3405	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3406	static int ec_ioctl_voe_read_nosync(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3407	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3408	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3409	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	3410	)
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	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3413	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3414	ec_voe_handler_t *voe;
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	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3417	return -EPERM;
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 (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	3420	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3421
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3422	/* 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	3423	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3424
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3425	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	3426	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3427	}
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	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	3430	return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3433	ecrt_voe_handler_read_nosync(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3434	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3435	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3436
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3437	/*****************************************************************************/
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	/** Starts a VoE write operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3440	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3441	static int ec_ioctl_voe_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3442	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3443	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3444	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	3445	)
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	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3448	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3449	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3450
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3451	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3452	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3453
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3454	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	3455	return -EFAULT;
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	/* 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	3458	* deleted in the meantime. */
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	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	3461	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3462	}
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	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	3465	return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3468	if (data.size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3469	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	3470	return -EOVERFLOW;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3471
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3472	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	3473	(void __user *) data.data, data.size))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3474	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3475	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3476
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3477	ecrt_voe_handler_write(voe, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3478	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3479	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3480
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3483	/** Executes the VoE state machine.
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	static int ec_ioctl_voe_exec(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3486	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3487	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3488	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	3489	)
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	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3492	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3493	ec_voe_handler_t *voe;
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	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3496	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3497
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3498	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	3499	return -EFAULT;
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	/* 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	3502	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3503
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3504	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	3505	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3506	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3507
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3508	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	3509	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3510	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3511
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3512	data.state = ecrt_voe_handler_execute(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3513	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	3514	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	3515	else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3516	data.size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3517
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3518	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	3519	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3520
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3521	return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3524	/*****************************************************************************/
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	/** Reads the received VoE data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3527	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3528	static int ec_ioctl_voe_data(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3529	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3530	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3531	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	3532	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3533	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3534	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3535	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3536	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3537
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3538	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3539	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3540
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3541	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	3542	return -EFAULT;
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	/* 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	3545	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3546
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3547	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	3548	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3549	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3550
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3551	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	3552	return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3555	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	3556	ecrt_voe_handler_data_size(voe)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3557	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3558
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3559	return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3562	/*****************************************************************************/
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	/** 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	3565	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3566	static int ec_ioctl_slave_foe_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3567	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3568	void arg /< ioctl() argument. /
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	{
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3571	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	3572	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	3573	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	3574	int ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3575
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3576	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	3577	return -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3578	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3579
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3580	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	3581	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	3582	if (ret) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3583	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	3584	return ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3585	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3586
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3587	ec_foe_request_read(&request);
2433 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	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	3590	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3591	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3592	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3593
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3594	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	3595	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	3596	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3597	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	3598	io.slave_position);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3599	return -EINVAL;
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
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	3602	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	3603
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3604	// schedule request.
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3605	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	3606
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3607	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3608
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3609	// wait for processing through FSM
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	3610	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	3611	request.state != EC_INT_REQUEST_QUEUED)) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3612	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3613	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	3614	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	3615	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3616	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	3617	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3618	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3619	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3620	// request already processing: interrupt not possible.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3621	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3622	}
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	// wait until master FSM has finished processing
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	3625	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	3626
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3627	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	3628	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	3629
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3630	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	3631	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	3632	ret = -EIO;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3633	} else {
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3634	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	3635	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	3636	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3637	return -EOVERFLOW;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3638	}
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3639	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	3640	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	3641	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	3642	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3643	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3644	}
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3645	ret = 0;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3646	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3647
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3648	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	3649	ret = -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3650	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3651
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3652	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	3653	return ret;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3654	}
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3657
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3658	/** 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	3659	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3660	static int ec_ioctl_slave_foe_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3661	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3662	void arg /< ioctl() argument. /
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	{
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3665	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	3666	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	3667	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	3668	int ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3669
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3670	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	3671	return -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3672	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3673
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3674	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	3675
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3676	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	3677	if (ret) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3678	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	3679	return ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3680	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3681
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3682	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	3683	(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	3684	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	3685	return -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3686	}
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3687
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3688	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	3689	ec_foe_request_write(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3690
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3691	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	3692	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3693	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3694	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3695
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3696	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	3697	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3698	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	3699	io.slave_position);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3700	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3701	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3702	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3703
2464 e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3704	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	3705
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3706	// 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	3707	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	3708
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3709	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3710
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3711	// wait for processing through FSM
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	3712	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	3713	request.state != EC_INT_REQUEST_QUEUED)) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3714	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3715	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	3716	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	3717	// abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3718	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3719	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	3720	ec_foe_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3721	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3722	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3723	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3724	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3725
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3726	// wait until master FSM has finished processing
2467 74ede087bc85 Using common waitqueue for requests. Florian Pose <fp@igh-essen.com> parents: 2464 diff changeset	3727	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	3728
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3729	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	3730	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	3731
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3732	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	3733
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3734	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	3735	ret = -EFAULT;
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
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access. Florian Pose <fp@igh-essen.com> parents: 2453 diff changeset	3738	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	3739	return ret;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3740	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3741
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3742	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3743
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3744	/** Read an SoE IDN.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3745	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3746	static int ec_ioctl_slave_soe_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3747	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3748	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3749	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3750	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3751	ec_ioctl_slave_soe_read_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3752	u8 *data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3753	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3754
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3755	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	3756	return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3759	data = kmalloc(ioctl.mem_size, GFP_KERNEL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3760	if (!data) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3761	EC_MASTER_ERR(master, "Failed to allocate %u bytes of IDN data.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3762	ioctl.mem_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3763	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3764	}
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	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	3767	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	3768	&ioctl.error_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3769	if (retval) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3770	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3771	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3772	}
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	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	3775	data, ioctl.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3776	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3777	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3778	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3779	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3780
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3781	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	3782	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3783	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3784
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3785	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	3786	return retval;
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	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3790
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3791	/** 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	3792	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3793	static int ec_ioctl_slave_soe_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3794	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3795	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3796	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3797	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3798	ec_ioctl_slave_soe_write_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3799	u8 *data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3800	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3801
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3802	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	3803	return -EFAULT;
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	data = kmalloc(ioctl.data_size, GFP_KERNEL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3807	if (!data) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3808	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	3809	ioctl.data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3810	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3811	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3812	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	3813	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3814	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3815	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3816
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3817	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	3818	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	3819	&ioctl.error_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3820	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3821	if (retval) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3822	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3823	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3824
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3825	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	3826	retval = -EFAULT;
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	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	3830	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3831	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3832
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3833	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3834
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3835	#ifdef EC_IOCTL_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3836	#define EC_IOCTL ec_ioctl_rtdm
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3837	#else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3838	#define EC_IOCTL ec_ioctl
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3839	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3840
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3841	/** Called when an ioctl() command is issued.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3842	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3843	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	3844	unsigned int cmd, void *arg)
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3845	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3846	#if DEBUG_LATENCY
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3847	cycles_t a = get_cycles(), b;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3848	unsigned int t;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3849	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3850	int ret;
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	switch (cmd) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3853	case EC_IOCTL_MODULE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3854	ret = ec_ioctl_module(arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3855	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3856	case EC_IOCTL_MASTER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3857	ret = ec_ioctl_master(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3858	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3859	case EC_IOCTL_SLAVE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3860	ret = ec_ioctl_slave(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3861	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3862	case EC_IOCTL_SLAVE_SYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3863	ret = ec_ioctl_slave_sync(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3864	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3865	case EC_IOCTL_SLAVE_SYNC_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3866	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	3867	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3868	case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3869	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	3870	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3871	case EC_IOCTL_DOMAIN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3872	ret = ec_ioctl_domain(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3873	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3874	case EC_IOCTL_DOMAIN_FMMU:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3875	ret = ec_ioctl_domain_fmmu(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3876	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3877	case EC_IOCTL_DOMAIN_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3878	ret = ec_ioctl_domain_data(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3879	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3880	case EC_IOCTL_MASTER_DEBUG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3881	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3882	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3883	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3884	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3885	ret = ec_ioctl_master_debug(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3886	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3887	case EC_IOCTL_MASTER_RESCAN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3888	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3889	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3890	break;
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	ret = ec_ioctl_master_rescan(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3893	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3894	case EC_IOCTL_SLAVE_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3895	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3896	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3897	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3898	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3899	ret = ec_ioctl_slave_state(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3900	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3901	case EC_IOCTL_SLAVE_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3902	ret = ec_ioctl_slave_sdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3903	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3904	case EC_IOCTL_SLAVE_SDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3905	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	3906	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3907	case EC_IOCTL_SLAVE_SDO_UPLOAD:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3908	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	3909	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3910	case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3911	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3912	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3913	break;
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	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	3916	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3917	case EC_IOCTL_SLAVE_SII_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3918	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	3919	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3920	case EC_IOCTL_SLAVE_SII_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3921	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3922	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3923	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3924	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3925	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	3926	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3927	case EC_IOCTL_SLAVE_REG_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3928	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	3929	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3930	case EC_IOCTL_SLAVE_REG_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3931	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3932	ret = -EPERM;
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	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3935	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	3936	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3937	case EC_IOCTL_SLAVE_FOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3938	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	3939	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3940	case EC_IOCTL_SLAVE_FOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3941	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3942	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3943	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3944	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3945	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	3946	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3947	case EC_IOCTL_SLAVE_SOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3948	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	3949	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3950	case EC_IOCTL_SLAVE_SOE_WRITE:
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_slave_soe_write(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_CONFIG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3958	ret = ec_ioctl_config(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3959	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3960	case EC_IOCTL_CONFIG_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3961	ret = ec_ioctl_config_pdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3962	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3963	case EC_IOCTL_CONFIG_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3964	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	3965	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3966	case EC_IOCTL_CONFIG_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3967	ret = ec_ioctl_config_sdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3968	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3969	case EC_IOCTL_CONFIG_IDN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3970	ret = ec_ioctl_config_idn(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3971	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3972	#ifdef EC_EOE
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3973	case EC_IOCTL_EOE_HANDLER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3974	ret = ec_ioctl_eoe_handler(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3975	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3976	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3977	case EC_IOCTL_REQUEST:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3978	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3979	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3980	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3981	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3982	ret = ec_ioctl_request(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3983	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3984	case EC_IOCTL_CREATE_DOMAIN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3985	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3986	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3987	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3988	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3989	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	3990	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3991	case EC_IOCTL_CREATE_SLAVE_CONFIG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3992	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3993	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3994	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3995	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3996	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	3997	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	3998	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	3999	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	4000	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	4001	break;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4002	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4003	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	4004	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4005	case EC_IOCTL_ACTIVATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4006	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4007	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4008	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4009	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4010	ret = ec_ioctl_activate(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4011	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4012	case EC_IOCTL_DEACTIVATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4013	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4014	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4015	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4016	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4017	ret = ec_ioctl_deactivate(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4018	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4019	case EC_IOCTL_SEND:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4020	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4021	ret = -EPERM;
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	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4024	ret = ec_ioctl_send(master, arg, ctx);
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_RECEIVE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4027	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4028	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4029	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4030	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4031	ret = ec_ioctl_receive(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4032	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4033	case EC_IOCTL_MASTER_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4034	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	4035	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4036	case EC_IOCTL_MASTER_LINK_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4037	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	4038	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4039	case EC_IOCTL_APP_TIME:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4040	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4041	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4042	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4043	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4044	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	4045	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4046	case EC_IOCTL_SYNC_REF:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4047	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4048	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4049	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4050	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4051	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	4052	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4053	case EC_IOCTL_SYNC_SLAVES:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4054	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4055	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4056	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4057	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4058	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	4059	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	4060	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	4061	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	4062	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	4063	break;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4064	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4065	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	4066	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4067	case EC_IOCTL_SYNC_MON_QUEUE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4068	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4069	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4070	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4071	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4072	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	4073	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4074	case EC_IOCTL_SYNC_MON_PROCESS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4075	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4076	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4077	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4078	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4079	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	4080	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4081	case EC_IOCTL_RESET:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4082	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4083	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4084	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4085	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4086	ret = ec_ioctl_reset(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4087	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4088	case EC_IOCTL_SC_SYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4089	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4090	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4091	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4092	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4093	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	4094	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4095	case EC_IOCTL_SC_WATCHDOG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4096	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4097	ret = -EPERM;
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	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4100	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	4101	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4102	case EC_IOCTL_SC_ADD_PDO:
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_sc_add_pdo(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_SC_CLEAR_PDOS:
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_sc_clear_pdos(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_SC_ADD_ENTRY:
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_sc_add_entry(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4122	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4123	case EC_IOCTL_SC_CLEAR_ENTRIES:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4124	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4125	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4126	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4127	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4128	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	4129	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4130	case EC_IOCTL_SC_REG_PDO_ENTRY:
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_sc_reg_pdo_entry(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_SC_DC:
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_sc_dc(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_SC_SDO:
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_sc_sdo(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4150	break;
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4151	case EC_IOCTL_SC_EMERG_SIZE:
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4152	if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4153	ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4154	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4155	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4156	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	4157	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4158	case EC_IOCTL_SC_EMERG_POP:
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4159	if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4160	ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4161	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4162	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4163	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	4164	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4165	case EC_IOCTL_SC_EMERG_CLEAR:
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4166	if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4167	ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4168	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4169	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4170	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	4171	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4172	case EC_IOCTL_SC_EMERG_OVERRUNS:
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4173	if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4174	ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4175	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4176	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4177	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	4178	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4179	case EC_IOCTL_SC_SDO_REQUEST:
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_create_sdo_request(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4185	break;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4186	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	4187	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	4188	ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4189	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4190	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4191	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	4192	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4193	case EC_IOCTL_SC_VOE:
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_create_voe_handler(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4199	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4200	case EC_IOCTL_SC_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4201	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	4202	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4203	case EC_IOCTL_SC_IDN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4204	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4205	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4206	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4207	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4208	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	4209	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4210	case EC_IOCTL_DOMAIN_OFFSET:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4211	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	4212	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4213	case EC_IOCTL_DOMAIN_PROCESS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4214	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4215	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4216	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4217	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4218	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	4219	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4220	case EC_IOCTL_DOMAIN_QUEUE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4221	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4222	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4223	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4224	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4225	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	4226	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4227	case EC_IOCTL_DOMAIN_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4228	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	4229	break;
2434 fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4230	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	4231	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	4232	ret = -EPERM;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4233	break;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4234	}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4235	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	4236	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4237	case EC_IOCTL_SDO_REQUEST_TIMEOUT:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4238	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4239	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4240	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4241	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4242	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	4243	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4244	case EC_IOCTL_SDO_REQUEST_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4245	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	4246	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4247	case EC_IOCTL_SDO_REQUEST_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4248	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4249	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4250	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4251	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4252	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	4253	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4254	case EC_IOCTL_SDO_REQUEST_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4255	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4256	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4257	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4258	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4259	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	4260	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4261	case EC_IOCTL_SDO_REQUEST_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4262	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	4263	break;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4264	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	4265	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	4266	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4267	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	4268	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	4269	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4270	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	4271	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	4272	ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4273	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4274	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4275	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	4276	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4277	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	4278	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	4279	ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4280	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4281	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4282	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	4283	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4284	case EC_IOCTL_VOE_SEND_HEADER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4285	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4286	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4287	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4288	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4289	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	4290	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4291	case EC_IOCTL_VOE_REC_HEADER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4292	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	4293	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4294	case EC_IOCTL_VOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4295	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4296	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4297	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4298	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4299	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	4300	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4301	case EC_IOCTL_VOE_READ_NOSYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4302	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4303	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4304	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4305	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4306	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	4307	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4308	case EC_IOCTL_VOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4309	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4310	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4311	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4312	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4313	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	4314	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4315	case EC_IOCTL_VOE_EXEC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4316	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4317	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4318	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4319	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4320	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	4321	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4322	case EC_IOCTL_VOE_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4323	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	4324	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4325	case EC_IOCTL_SET_SEND_INTERVAL:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4326	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4327	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4328	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4329	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4330	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	4331	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4332	default:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4333	ret = -ENOTTY;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4334	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4335	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4336
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4337	#if DEBUG_LATENCY
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4338	b = get_cycles();
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4339	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	4340	if (t > 50) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4341	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	4342	_IOC_NR(cmd), t);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4343	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4344	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4345
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4346	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4347	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4348
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4349	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 04 Dec 2012 16:05:23 +0100
branch	stable-1.5
changeset 2467	74ede087bc85
parent 2464	e6cc33cac6a2
child 2474	fb2fe8fae501
permissions	-rw-r--r--