author | Dave Page <dave.page@gleeble.com> |
Thu, 26 Mar 2015 15:16:21 -0400 | |
changeset 2609 | 777d1a8b3a27 |
parent 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
2589
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/***************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2009-2010 Moehwald GmbH B. Benner |
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6 |
* 2011 IgH Andreas Stewering-Bone |
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7 |
* 2012 Florian Pose <fp@igh-essen.com> |
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* |
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9 |
* This file is part of the IgH EtherCAT master. |
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* |
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11 |
* The IgH EtherCAT master is free software; you can redistribute it and/or |
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12 |
* modify it under the terms of the GNU General Public License as published |
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13 |
* by the Free Software Foundation; version 2 of the License. |
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* |
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15 |
* The IgH EtherCAT master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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17 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT master. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* The license mentioned above concerns the source code only. Using the |
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24 |
* EtherCAT technology and brand is only permitted in compliance with the |
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25 |
* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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****************************************************************************/ |
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|
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/** \file |
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* RTDM interface. |
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*/ |
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|
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#include <linux/module.h> |
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#include <linux/slab.h> |
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#include <linux/mman.h> |
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|
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#include <rtdm/rtdm_driver.h> |
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|
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#include "master.h" |
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#include "ioctl.h" |
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#include "rtdm.h" |
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|
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/** Set to 1 to enable device operations debugging. |
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*/ |
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#define DEBUG 0 |
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|
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/****************************************************************************/ |
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|
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/** Context structure for an open RTDM file handle. |
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*/ |
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typedef struct { |
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rtdm_user_info_t *user_info; /**< RTDM user data. */ |
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ec_ioctl_context_t ioctl_ctx; /**< Context structure. */ |
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} ec_rtdm_context_t; |
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|
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/****************************************************************************/ |
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|
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int ec_rtdm_open(struct rtdm_dev_context *, rtdm_user_info_t *, int); |
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int ec_rtdm_close(struct rtdm_dev_context *, rtdm_user_info_t *); |
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int ec_rtdm_ioctl(struct rtdm_dev_context *, rtdm_user_info_t *, |
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unsigned int, void __user *); |
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|
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/****************************************************************************/ |
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|
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/** Initialize an RTDM device. |
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* |
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* \return Zero on success, otherwise a negative error code. |
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*/ |
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int ec_rtdm_dev_init( |
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ec_rtdm_dev_t *rtdm_dev, /**< EtherCAT RTDM device. */ |
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ec_master_t *master /**< EtherCAT master. */ |
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) |
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{ |
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int ret; |
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|
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rtdm_dev->master = master; |
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|
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rtdm_dev->dev = kzalloc(sizeof(struct rtdm_device), GFP_KERNEL); |
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if (!rtdm_dev->dev) { |
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EC_MASTER_ERR(master, "Failed to reserve memory for RTDM device.\n"); |
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return -ENOMEM; |
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} |
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|
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rtdm_dev->dev->struct_version = RTDM_DEVICE_STRUCT_VER; |
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rtdm_dev->dev->device_flags = RTDM_NAMED_DEVICE; |
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rtdm_dev->dev->context_size = sizeof(ec_rtdm_context_t); |
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snprintf(rtdm_dev->dev->device_name, RTDM_MAX_DEVNAME_LEN, |
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"EtherCAT%u", master->index); |
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rtdm_dev->dev->open_nrt = ec_rtdm_open; |
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rtdm_dev->dev->ops.close_nrt = ec_rtdm_close; |
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rtdm_dev->dev->ops.ioctl_rt = ec_rtdm_ioctl; |
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rtdm_dev->dev->ops.ioctl_nrt = ec_rtdm_ioctl; |
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rtdm_dev->dev->device_class = RTDM_CLASS_EXPERIMENTAL; |
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rtdm_dev->dev->device_sub_class = 222; |
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rtdm_dev->dev->driver_name = "EtherCAT"; |
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rtdm_dev->dev->driver_version = RTDM_DRIVER_VER(1, 0, 2); |
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rtdm_dev->dev->peripheral_name = rtdm_dev->dev->device_name; |
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rtdm_dev->dev->provider_name = "EtherLab Community"; |
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rtdm_dev->dev->proc_name = rtdm_dev->dev->device_name; |
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rtdm_dev->dev->device_data = rtdm_dev; /* pointer to parent */ |
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101 |
|
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EC_MASTER_INFO(master, "Registering RTDM device %s.\n", |
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103 |
rtdm_dev->dev->driver_name); |
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ret = rtdm_dev_register(rtdm_dev->dev); |
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if (ret) { |
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EC_MASTER_ERR(master, "Initialization of RTDM interface failed" |
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" (return value %i).\n", ret); |
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108 |
kfree(rtdm_dev->dev); |
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109 |
} |
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110 |
|
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111 |
return ret; |
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112 |
} |
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113 |
|
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114 |
/****************************************************************************/ |
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115 |
|
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/** Clear an RTDM device. |
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117 |
*/ |
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118 |
void ec_rtdm_dev_clear( |
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119 |
ec_rtdm_dev_t *rtdm_dev /**< EtherCAT RTDM device. */ |
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|
120 |
) |
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121 |
{ |
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|
122 |
int ret; |
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|
123 |
|
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|
124 |
EC_MASTER_INFO(rtdm_dev->master, "Unregistering RTDM device %s.\n", |
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|
125 |
rtdm_dev->dev->driver_name); |
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|
126 |
ret = rtdm_dev_unregister(rtdm_dev->dev, 1000 /* poll delay [ms] */); |
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|
127 |
if (ret < 0) { |
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|
128 |
EC_MASTER_WARN(rtdm_dev->master, |
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|
129 |
"Failed to unregister RTDM device (code %i).\n", ret); |
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|
130 |
} |
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|
131 |
|
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|
132 |
kfree(rtdm_dev->dev); |
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|
133 |
} |
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|
134 |
|
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|
135 |
/****************************************************************************/ |
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|
136 |
|
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|
137 |
/** Driver open. |
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|
138 |
* |
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|
139 |
* \return Always zero (success). |
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|
140 |
*/ |
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|
141 |
int ec_rtdm_open( |
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|
142 |
struct rtdm_dev_context *context, /**< Context. */ |
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|
143 |
rtdm_user_info_t *user_info, /**< User data. */ |
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|
144 |
int oflags /**< Open flags. */ |
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|
145 |
) |
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|
146 |
{ |
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|
147 |
ec_rtdm_context_t *ctx = (ec_rtdm_context_t *) context->dev_private; |
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|
148 |
#if DEBUG |
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|
149 |
ec_rtdm_dev_t *rtdm_dev = (ec_rtdm_dev_t *) context->device->device_data; |
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|
150 |
#endif |
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|
151 |
|
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|
152 |
ctx->user_info = user_info; |
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|
153 |
ctx->ioctl_ctx.writable = oflags & O_WRONLY || oflags & O_RDWR; |
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|
154 |
ctx->ioctl_ctx.requested = 0; |
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|
155 |
ctx->ioctl_ctx.process_data = NULL; |
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|
156 |
ctx->ioctl_ctx.process_data_size = 0; |
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|
157 |
|
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|
158 |
#if DEBUG |
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|
159 |
EC_MASTER_INFO(rtdm_dev->master, "RTDM device %s opened.\n", |
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|
160 |
context->device->device_name); |
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|
161 |
#endif |
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|
162 |
return 0; |
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parents:
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|
163 |
} |
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parents:
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changeset
|
164 |
|
2b9c78543663
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parents:
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|
165 |
/****************************************************************************/ |
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|
166 |
|
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|
167 |
/** Driver close. |
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|
168 |
* |
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parents:
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|
169 |
* \return Always zero (success). |
2b9c78543663
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|
170 |
*/ |
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parents:
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|
171 |
int ec_rtdm_close( |
2b9c78543663
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|
172 |
struct rtdm_dev_context *context, /**< Context. */ |
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|
173 |
rtdm_user_info_t *user_info /**< User data. */ |
2b9c78543663
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parents:
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changeset
|
174 |
) |
2b9c78543663
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parents:
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changeset
|
175 |
{ |
2b9c78543663
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parents:
diff
changeset
|
176 |
ec_rtdm_context_t *ctx = (ec_rtdm_context_t *) context->dev_private; |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
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|
177 |
ec_rtdm_dev_t *rtdm_dev = (ec_rtdm_dev_t *) context->device->device_data; |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
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changeset
|
178 |
|
2b9c78543663
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parents:
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|
179 |
if (ctx->ioctl_ctx.requested) { |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
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|
180 |
ecrt_release_master(rtdm_dev->master); |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
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changeset
|
181 |
} |
2b9c78543663
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parents:
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changeset
|
182 |
|
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
183 |
#if DEBUG |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
EC_MASTER_INFO(rtdm_dev->master, "RTDM device %s closed.\n", |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
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|
185 |
context->device->device_name); |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
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changeset
|
186 |
#endif |
2b9c78543663
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parents:
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changeset
|
187 |
return 0; |
2b9c78543663
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parents:
diff
changeset
|
188 |
} |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
189 |
|
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
190 |
/****************************************************************************/ |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
191 |
|
2b9c78543663
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
/** Driver ioctl. |
2b9c78543663
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parents:
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changeset
|
193 |
* |
2b9c78543663
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parents:
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changeset
|
194 |
* \return ioctl() return code. |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
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changeset
|
195 |
*/ |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
196 |
int ec_rtdm_ioctl( |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
197 |
struct rtdm_dev_context *context, /**< Context. */ |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
198 |
rtdm_user_info_t *user_info, /**< User data. */ |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
199 |
unsigned int request, /**< Request. */ |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
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changeset
|
200 |
void __user *arg /**< Argument. */ |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
201 |
) |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
{ |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
203 |
ec_rtdm_context_t *ctx = (ec_rtdm_context_t *) context->dev_private; |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
204 |
ec_rtdm_dev_t *rtdm_dev = (ec_rtdm_dev_t *) context->device->device_data; |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
|
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
206 |
#if DEBUG |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
EC_MASTER_INFO(rtdm_dev->master, "ioctl(request = %u, ctl = %02x)" |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
208 |
" on RTDM device %s.\n", request, _IOC_NR(request), |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
context->device->device_name); |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
210 |
#endif |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
211 |
return ec_ioctl_rtdm(rtdm_dev->master, &ctx->ioctl_ctx, request, arg); |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
212 |
} |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
213 |
|
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
214 |
/****************************************************************************/ |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
215 |
|
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
216 |
/** Memory-map process data to user space. |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
217 |
* |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
218 |
* \return Zero on success, otherwise a negative error code. |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
219 |
*/ |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
220 |
int ec_rtdm_mmap( |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
221 |
ec_ioctl_context_t *ioctl_ctx, /**< Context. */ |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
222 |
void **user_address /**< Userspace address. */ |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
223 |
) |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
224 |
{ |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
225 |
ec_rtdm_context_t *ctx = |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
226 |
container_of(ioctl_ctx, ec_rtdm_context_t, ioctl_ctx); |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
227 |
int ret; |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
228 |
|
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
229 |
ret = rtdm_mmap_to_user(ctx->user_info, |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
230 |
ioctl_ctx->process_data, ioctl_ctx->process_data_size, |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
PROT_READ | PROT_WRITE, |
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
diff
changeset
|
232 |
user_address, |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
233 |
NULL, NULL); |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
234 |
if (ret < 0) { |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
235 |
return ret; |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
236 |
} |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
237 |
|
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
238 |
return 0; |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
239 |
} |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
240 |
|
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
241 |
/****************************************************************************/ |