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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

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 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT master character device.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

    43

#include "cdev.h"

    44

#include "master.h"

    45

#include "slave_config.h"

    46

#include "ioctl.h"

    47

    48

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

    49

    50

/** \cond */

    51

    52

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

    53

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

    54

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

    55

    56

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

    57

    58

static struct file_operations eccdev_fops = {

    59

    .owner          = THIS_MODULE,

    60

    .open           = eccdev_open,

    61

    .release        = eccdev_release,

    62

    .unlocked_ioctl = eccdev_ioctl

    63

};

    64

    65

/** \endcond */

    66

    67

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

    68

    69

/** Constructor.

    70

 * 

    71

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

    72

 */

    73

int ec_cdev_init(

    74

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

    75

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

    76

		dev_t dev_num /**< Device number. */

    77

		)

    78

{

    79

    cdev->master = master;

    80

    81

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

    82

    cdev->cdev.owner = THIS_MODULE;

    83

    84

    if (cdev_add(&cdev->cdev,

    85

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

    86

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

    87

		return -1;

    88

    }

    89

    90

    return 0;

    91

}

    92

    93

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

    94

    95

/** Destructor.

    96

 */

    97

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

    98

{

    99

    cdev_del(&cdev->cdev);

   100

}

   101

   102

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

   103

   104

/** Copies a string to an ioctl structure.

   105

 */

   106

void ec_cdev_strcpy(

   107

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

   108

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

   109

        )

   110

{

   111

    if (source) {

   112

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   113

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   114

    } else {

   115

        target[0] = 0;

   116

    }

   117

}

   118

   119

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

   120

   121

/** Get master information.

   122

 */

   123

int ec_cdev_ioctl_master(

   124

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

   125

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

   126

        )

   127

{

   128

    ec_ioctl_master_t data;

   129

   130

    down(&master->master_sem);

   131

    data.slave_count = master->slave_count;

   132

    data.config_count = ec_master_config_count(master);

   133

    data.domain_count = ec_master_domain_count(master);

   134

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

   135

    up(&master->master_sem);

   136

   137

    down(&master->device_sem);

   138

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

   139

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

   140

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

   141

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

   142

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

   143

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

   144

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

   145

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

   146

    up(&master->device_sem);

   147

   148

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

   149

        return -EFAULT;

   150

   151

    return 0;

   152

}

   153

   154

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

   155

   156

/** Get slave information.

   157

 */

   158

int ec_cdev_ioctl_slave(

   159

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

   160

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

   161

        )

   162

{

   163

    ec_ioctl_slave_t data;

   164

    const ec_slave_t *slave;

   165

   166

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

   167

        return -EFAULT;

   168

    }

   169

   170

    down(&master->master_sem);

   171

   172

    if (!(slave = ec_master_find_slave_const(

   173

                    master, 0, data.position))) {

   174

        up(&master->master_sem);

   175

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

   176

        return -EINVAL;

   177

    }

   178

   179

    data.vendor_id = slave->sii.vendor_id;

   180

    data.product_code = slave->sii.product_code;

   181

    data.revision_number = slave->sii.revision_number;

   182

    data.serial_number = slave->sii.serial_number;

   183

    data.alias = slave->sii.alias;

   184

    data.rx_mailbox_offset = slave->sii.rx_mailbox_offset;

   185

    data.rx_mailbox_size = slave->sii.rx_mailbox_size;

   186

    data.tx_mailbox_offset = slave->sii.tx_mailbox_offset;

   187

    data.tx_mailbox_size = slave->sii.tx_mailbox_size;

   188

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   189

    data.has_general_category = slave->sii.has_general;

   190

    data.coe_details = slave->sii.coe_details;

   191

    data.general_flags = slave->sii.general_flags;

   192

    data.current_on_ebus = slave->sii.current_on_ebus;

   193

    data.state = slave->current_state;

   194

    data.error_flag = slave->error_flag;

   195

   196

    data.sync_count = slave->sii.sync_count;

   197

    data.sdo_count = ec_slave_sdo_count(slave);

   198

    data.sii_nwords = slave->sii_nwords;

   199

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

   200

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

   201

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

   202

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

   203

   204

    up(&master->master_sem);

   205

   206

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

   207

        return -EFAULT;

   208

   209

    return 0;

   210

}

   211

   212

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

   213

   214

/** Get slave sync manager information.

   215

 */

   216

int ec_cdev_ioctl_slave_sync(

   217

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

   218

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

   219

        )

   220

{

   221

    ec_ioctl_slave_sync_t data;

   222

    const ec_slave_t *slave;

   223

    const ec_sync_t *sync;

   224

   225

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

   226

        return -EFAULT;

   227

    }

   228

   229

    down(&master->master_sem);

   230

   231

    if (!(slave = ec_master_find_slave_const(

   232

                    master, 0, data.slave_position))) {

   233

        up(&master->master_sem);

   234

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

   235

        return -EINVAL;

   236

    }

   237

   238

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

   239

        up(&master->master_sem);

   240

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

   241

                data.sync_index, data.slave_position);

   242

        return -EINVAL;

   243

    }

   244

   245

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

   246

   247

    data.physical_start_address = sync->physical_start_address;

   248

    data.default_size = sync->default_length;

   249

    data.control_register = sync->control_register;

   250

    data.enable = sync->enable;

   251

    data.assign_source = sync->assign_source;

   252

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

   253

   254

    up(&master->master_sem);

   255

   256

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

   257

        return -EFAULT;

   258

   259

    return 0;

   260

}

   261

   262

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

   263

   264

/** Get slave sync manager Pdo information.

   265

 */

   266

int ec_cdev_ioctl_slave_sync_pdo(

   267

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

   268

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

   269

        )

   270

{

   271

    ec_ioctl_slave_sync_pdo_t data;

   272

    const ec_slave_t *slave;

   273

    const ec_sync_t *sync;

   274

    const ec_pdo_t *pdo;

   275

   276

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

   277

        return -EFAULT;

   278

    }

   279

   280

    down(&master->master_sem);

   281

   282

    if (!(slave = ec_master_find_slave_const(

   283

                    master, 0, data.slave_position))) {

   284

        up(&master->master_sem);

   285

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

   286

        return -EINVAL;

   287

    }

   288

   289

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

   290

        up(&master->master_sem);

   291

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

   292

                data.sync_index, data.slave_position);

   293

        return -EINVAL;

   294

    }

   295

   296

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

   297

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   298

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

   299

        up(&master->master_sem);

   300

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

   301

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

   302

                data.pdo_pos, data.slave_position);

   303

        return -EINVAL;

   304

    }

   305

   306

    data.index = pdo->index;

   307

    data.entry_count = ec_pdo_entry_count(pdo);

   308

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

   309

   310

    up(&master->master_sem);

   311

   312

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

   313

        return -EFAULT;

   314

   315

    return 0;

   316

}

   317

   318

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

   319

   320

/** Get slave sync manager Pdo entry information.

   321

 */

   322

int ec_cdev_ioctl_slave_sync_pdo_entry(

   323

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

   324

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

   325

        )

   326

{

   327

    ec_ioctl_slave_sync_pdo_entry_t data;

   328

    const ec_slave_t *slave;

   329

    const ec_sync_t *sync;

   330

    const ec_pdo_t *pdo;

   331

    const ec_pdo_entry_t *entry;

   332

   333

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

   334

        return -EFAULT;

   335

    }

   336

   337

    down(&master->master_sem);

   338

   339

    if (!(slave = ec_master_find_slave_const(

   340

                    master, 0, data.slave_position))) {

   341

        up(&master->master_sem);

   342

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

   343

        return -EINVAL;

   344

    }

   345

   346

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

   347

        up(&master->master_sem);

   348

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

   349

                data.sync_index, data.slave_position);

   350

        return -EINVAL;

   351

    }

   352

   353

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

   354

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   355

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

   356

        up(&master->master_sem);

   357

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

   358

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

   359

                data.pdo_pos, data.slave_position);

   360

        return -EINVAL;

   361

    }

   362

   363

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   364

                    pdo, data.entry_pos))) {

   365

        up(&master->master_sem);

   366

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

   367

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

   368

                data.entry_pos, data.slave_position);

   369

        return -EINVAL;

   370

    }

   371

   372

    data.index = entry->index;

   373

    data.subindex = entry->subindex;

   374

    data.bit_length = entry->bit_length;

   375

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

   376

   377

    up(&master->master_sem);

   378

   379

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

   380

        return -EFAULT;

   381

   382

    return 0;

   383

}

   384

   385

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

   386

   387

/** Get domain information.

   388

 */

   389

int ec_cdev_ioctl_domain(

   390

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

   391

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

   392

        )

   393

{

   394

    ec_ioctl_domain_t data;

   395

    const ec_domain_t *domain;

   396

   397

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

   398

        return -EFAULT;

   399

    }

   400

   401

    down(&master->master_sem);

   402

   403

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

   404

        up(&master->master_sem);

   405

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

   406

        return -EINVAL;

   407

    }

   408

   409

    data.data_size = domain->data_size;

   410

    data.logical_base_address = domain->logical_base_address;

   411

    data.working_counter = domain->working_counter;

   412

    data.expected_working_counter = domain->expected_working_counter;

   413

    data.fmmu_count = ec_domain_fmmu_count(domain);

   414

   415

    up(&master->master_sem);

   416

   417

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

   418

        return -EFAULT;

   419

   420

    return 0;

   421

}

   422

   423

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

   424

   425

/** Get domain FMMU information.

   426

 */

   427

int ec_cdev_ioctl_domain_fmmu(

   428

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

   429

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

   430

        )

   431

{

   432

    ec_ioctl_domain_fmmu_t data;

   433

    const ec_domain_t *domain;

   434

    const ec_fmmu_config_t *fmmu;

   435

   436

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

   437

        return -EFAULT;

   438

    }

   439

   440

    down(&master->master_sem);

   441

   442

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

   443

        up(&master->master_sem);

   444

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

   445

        return -EINVAL;

   446

    }

   447

   448

    if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {

   449

        up(&master->master_sem);

   450

        EC_ERR("Domain %u has less than %u fmmu configurations.\n",

   451

                data.domain_index, data.fmmu_index + 1);

   452

        return -EINVAL;

   453

    }

   454

   455

    data.slave_config_alias = fmmu->sc->alias;

   456

    data.slave_config_position = fmmu->sc->position;

   457

    data.sync_index = fmmu->sync_index;

   458

    data.dir = fmmu->dir;

   459

    data.logical_address = fmmu->logical_start_address;

   460

    data.data_size = fmmu->data_size;

   461

   462

    up(&master->master_sem);

   463

   464

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

   465

        return -EFAULT;

   466

   467

    return 0;

   468

}

   469

   470

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

   471

   472

/** Get domain data.

   473

 */

   474

int ec_cdev_ioctl_domain_data(

   475

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

   476

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

   477

        )

   478

{

   479

    ec_ioctl_domain_data_t data;

   480

    const ec_domain_t *domain;

   481

   482

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

   483

        return -EFAULT;

   484

    }

   485

   486

    down(&master->master_sem);

   487

   488

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

   489

        up(&master->master_sem);

   490

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

   491

        return -EINVAL;

   492

    }

   493

   494

    if (domain->data_size != data.data_size) {

   495

        up(&master->master_sem);

   496

        EC_ERR("Data size mismatch %u/%u!\n",

   497

                data.data_size, domain->data_size);

   498

        return -EFAULT;

   499

    }

   500

   501

    if (copy_to_user((void __user *) data.target, domain->data,