1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master character device.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/vmalloc.h>

    39

#include <linux/mm.h>

    40

    41

#include "cdev.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

#include "voe_handler.h"

    45

#include "ioctl.h"

    46

    47

/** Set to 1 to enable ioctl() command debugging.

    48

 */

    49

#define DEBUG_IOCTL 0

    50

    51

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

    52

    53

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

    54

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

    55

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

    56

static int eccdev_mmap(struct file *, struct vm_area_struct *);

    57

    58

/** This is the kernel version from which the .fault member of the

    59

 * vm_operations_struct is usable.

    60

 */

    61

#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)

    62

    63

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    64

static int eccdev_vma_fault(struct vm_area_struct *, struct vm_fault *);

    65

#else

    66

static struct page *eccdev_vma_nopage(

    67

        struct vm_area_struct *, unsigned long, int *);

    68

#endif

    69

    70

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

    71

    72

/** File operation callbacks for the EtherCAT character device.

    73

 */

    74

static struct file_operations eccdev_fops = {

    75

    .owner          = THIS_MODULE,

    76

    .open           = eccdev_open,

    77

    .release        = eccdev_release,

    78

    .unlocked_ioctl = eccdev_ioctl,

    79

    .mmap           = eccdev_mmap

    80

};

    81

    82

/** Callbacks for a virtual memory area retrieved with ecdevc_mmap().

    83

 */

    84

struct vm_operations_struct eccdev_vm_ops = {

    85

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    86

    .fault = eccdev_vma_fault

    87

#else

    88

    .nopage = eccdev_vma_nopage

    89

#endif

    90

};

    91

    92

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

    93

    94

/** Private data structure for file handles.

    95

 */

    96

typedef struct {

    97

    ec_cdev_t *cdev; /**< Character device. */

    98

    unsigned int requested; /**< Master wac requested via this file handle. */

    99

    uint8_t *process_data; /**< Total process data area. */

   100

    size_t process_data_size; /**< Size of the \a process_data. */

   101

} ec_cdev_priv_t;

   102

   103

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

   104

   105

/** Constructor.

   106

 * 

   107

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

   108

 */

   109

int ec_cdev_init(

   110

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

   111

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

   112

		dev_t dev_num /**< Device number. */

   113

		)

   114

{

   115

    int ret;

   116

   117

    cdev->master = master;

   118

   119

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

   120

    cdev->cdev.owner = THIS_MODULE;

   121

   122

    ret = cdev_add(&cdev->cdev,

   123

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

   124

    if (ret) {

   125

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

   126

    }

   127

   128

    return ret;

   129

}

   130

   131

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

   132

   133

/** Destructor.

   134

 */

   135

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

   136

{

   137

    cdev_del(&cdev->cdev);

   138

}

   139

   140

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

   141

   142

/** Copies a string to an ioctl structure.

   143

 */

   144

void ec_cdev_strcpy(

   145

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

   146

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

   147

        )

   148

{

   149

    if (source) {

   150

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   151

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   152

    } else {

   153

        target[0] = 0;

   154

    }

   155

}

   156

   157

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

   158

   159

/** Get master information.

   160

 */

   161

int ec_cdev_ioctl_master(

   162

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

   163

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

   164

        )

   165

{

   166

    ec_ioctl_master_t data;

   167

   168

    if (down_interruptible(&master->master_sem))

   169

        return -EINTR;

   170

    data.slave_count = master->slave_count;

   171

    data.config_count = ec_master_config_count(master);

   172

    data.domain_count = ec_master_domain_count(master);

   173

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

   174

    data.scan_busy = master->scan_busy;

   175

    up(&master->master_sem);

   176

   177

    if (down_interruptible(&master->device_sem))

   178

        return -EINTR;

   179

   180

    if (master->main_device.dev) {

   181

        memcpy(data.devices[0].address,

   182

                master->main_device.dev->dev_addr, ETH_ALEN);

   183

    } else {

   184

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

   185

    }

   186

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

   187

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

   188

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

   189

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

   190

   191

    if (master->backup_device.dev) {

   192

        memcpy(data.devices[1].address,

   193

                master->backup_device.dev->dev_addr, ETH_ALEN); 

   194

    } else {

   195

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

   196

    }

   197

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

   198

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

   199

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

   200

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

   201

   202

    up(&master->device_sem);

   203

   204

    data.app_time = master->app_time;

   205

    data.ref_clock =

   206

        master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff;

   207

   208

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

   209

        return -EFAULT;

   210

   211

    return 0;

   212

}

   213

   214

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

   215

   216

/** Get slave information.

   217

 */

   218

int ec_cdev_ioctl_slave(

   219

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

   220

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

   221

        )

   222

{

   223

    ec_ioctl_slave_t data;

   224

    const ec_slave_t *slave;

   225

    int i;

   226

   227

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

   228

        return -EFAULT;

   229

    }

   230

   231

    if (down_interruptible(&master->master_sem))

   232

        return -EINTR;

   233

   234

    if (!(slave = ec_master_find_slave_const(

   235

                    master, 0, data.position))) {

   236

        up(&master->master_sem);

   237

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

   238

        return -EINVAL;

   239

    }

   240

   241

    data.vendor_id = slave->sii.vendor_id;

   242

    data.product_code = slave->sii.product_code;

   243

    data.revision_number = slave->sii.revision_number;

   244

    data.serial_number = slave->sii.serial_number;

   245

    data.alias = slave->sii.alias;

   246

    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;

   247

    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;

   248

    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;

   249

    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;

   250

    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;

   251

    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;

   252

    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;

   253

    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;

   254

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   255

    data.has_general_category = slave->sii.has_general;

   256

    data.coe_details = slave->sii.coe_details;

   257

    data.general_flags = slave->sii.general_flags;

   258

    data.current_on_ebus = slave->sii.current_on_ebus;

   259

    for (i = 0; i < EC_MAX_PORTS; i++) {

   260

        data.ports[i].desc = slave->ports[i].desc;

   261

        data.ports[i].link.link_up = slave->ports[i].link.link_up;

   262

        data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed;

   263

        data.ports[i].link.signal_detected = slave->ports[i].link.signal_detected;

   264

        data.ports[i].receive_time = slave->ports[i].receive_time;

   265

        if (slave->ports[i].next_slave) {

   266

            data.ports[i].next_slave = slave->ports[i].next_slave->ring_position;

   267

        } else {

   268

            data.ports[i].next_slave = 0xffff;

   269

        }

   270

        data.ports[i].delay_to_next_dc = slave->ports[i].delay_to_next_dc;

   271

    }

   272

    data.fmmu_bit = slave->base_fmmu_bit_operation;

   273

    data.dc_supported = slave->base_dc_supported;

   274

    data.dc_range = slave->base_dc_range;

   275

    data.has_dc_system_time = slave->has_dc_system_time;

   276

    data.transmission_delay = slave->transmission_delay;

   277

    data.al_state = slave->current_state;

   278

    data.error_flag = slave->error_flag;

   279

   280

    data.sync_count = slave->sii.sync_count;

   281

    data.sdo_count = ec_slave_sdo_count(slave);

   282

    data.sii_nwords = slave->sii_nwords;

   283

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

   284

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

   285

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

   286

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

   287

   288

    up(&master->master_sem);

   289

   290

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

   291

        return -EFAULT;

   292

   293

    return 0;

   294

}

   295

   296

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

   297

   298

/** Get slave sync manager information.

   299

 */

   300

int ec_cdev_ioctl_slave_sync(

   301

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

   302

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

   303

        )

   304

{

   305

    ec_ioctl_slave_sync_t data;

   306

    const ec_slave_t *slave;

   307

    const ec_sync_t *sync;

   308

   309

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

   310

        return -EFAULT;

   311

    }

   312

   313

    if (down_interruptible(&master->master_sem))

   314

        return -EINTR;

   315

   316

    if (!(slave = ec_master_find_slave_const(

   317

                    master, 0, data.slave_position))) {

   318

        up(&master->master_sem);

   319

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

   320

        return -EINVAL;

   321

    }

   322

   323

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

   324

        up(&master->master_sem);

   325

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

   326

                data.sync_index, data.slave_position);

   327

        return -EINVAL;

   328

    }

   329

   330

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

   331

   332

    data.physical_start_address = sync->physical_start_address;

   333

    data.default_size = sync->default_length;

   334

    data.control_register = sync->control_register;

   335

    data.enable = sync->enable;

   336

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

   337

   338

    up(&master->master_sem);

   339

   340

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

   341

        return -EFAULT;

   342

   343

    return 0;

   344

}

   345

   346

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

   347

   348

/** Get slave sync manager PDO information.

   349

 */

   350

int ec_cdev_ioctl_slave_sync_pdo(

   351

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

   352

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

   353

        )

   354

{

   355

    ec_ioctl_slave_sync_pdo_t data;

   356

    const ec_slave_t *slave;

   357

    const ec_sync_t *sync;

   358

    const ec_pdo_t *pdo;

   359

   360

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

   361

        return -EFAULT;

   362

    }

   363

   364

    if (down_interruptible(&master->master_sem))

   365

        return -EINTR;

   366

   367

    if (!(slave = ec_master_find_slave_const(

   368

                    master, 0, data.slave_position))) {

   369

        up(&master->master_sem);

   370

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

   371

        return -EINVAL;

   372

    }

   373

   374

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

   375

        up(&master->master_sem);

   376

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

   377

                data.sync_index, data.slave_position);

   378

        return -EINVAL;

   379

    }

   380

   381

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

   382

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   383

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

   384

        up(&master->master_sem);

   385

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

   386

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

   387

                data.pdo_pos, data.slave_position);

   388

        return -EINVAL;

   389

    }

   390

   391

    data.index = pdo->index;

   392

    data.entry_count = ec_pdo_entry_count(pdo);

   393

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

   394

   395

    up(&master->master_sem);

   396

   397

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

   398

        return -EFAULT;

   399

   400

    return 0;

   401

}

   402

   403

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

   404

   405

/** Get slave sync manager PDO entry information.

   406

 */

   407

int ec_cdev_ioctl_slave_sync_pdo_entry(

   408

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

   409

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

   410

        )

   411

{

   412

    ec_ioctl_slave_sync_pdo_entry_t data;

   413

    const ec_slave_t *slave;

   414

    const ec_sync_t *sync;

   415

    const ec_pdo_t *pdo;

   416

    const ec_pdo_entry_t *entry;

   417

   418

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

   419

        return -EFAULT;

   420

    }

   421

   422

    if (down_interruptible(&master->master_sem))

   423

        return -EINTR;

   424

   425

    if (!(slave = ec_master_find_slave_const(

   426

                    master, 0, data.slave_position))) {

   427

        up(&master->master_sem);

   428

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

   429

        return -EINVAL;

   430

    }

   431

   432

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

   433

        up(&master->master_sem);

   434

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

   435

                data.sync_index, data.slave_position);

   436

        return -EINVAL;

   437

    }

   438

   439

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

   440

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   441

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

   442

        up(&master->master_sem);

   443

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

   444

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

   445

                data.pdo_pos, data.slave_position);

   446

        return -EINVAL;

   447

    }

   448

   449

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   450

                    pdo, data.entry_pos))) {

   451

        up(&master->master_sem);

   452

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

   453

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

   454

                data.entry_pos, data.slave_position);

   455

        return -EINVAL;

   456

    }

   457

   458

    data.index = entry->index;

   459

    data.subindex = entry->subindex;

   460

    data.bit_length = entry->bit_length;

   461

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

   462

   463

    up(&master->master_sem);

   464

   465

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

   466

        return -EFAULT;

   467

   468

    return 0;

   469

}

   470

   471

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

   472

   473

/** Get domain information.

   474

 */

   475

int ec_cdev_ioctl_domain(

   476

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

   477

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

   478

        )

   479

{

   480

    ec_ioctl_domain_t data;

   481

    const ec_domain_t *domain;

   482

   483

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

   484

        return -EFAULT;

   485

    }

   486

   487

    if (down_interruptible(&master->master_sem))

   488

        return -EINTR;

   489

   490

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

   491

        up(&master->master_sem);

   492

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

   493

        return -EINVAL;

   494