master/ioctl.c
author Florian Pose <fp@igh-essen.com>
Thu, 06 Dec 2012 13:54:09 +0100
branchstable-1.5
changeset 2480 8b1e26cc88ac
parent 2477 1d5ebfb7fec1
child 2481 c99ff159b60d
permissions -rw-r--r--
Fixed format specifiers.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  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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 *  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, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  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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   EtherCAT master character device.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include "master.h"
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#include "slave_config.h"
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#include "voe_handler.h"
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#include "ethernet.h"
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#include "ioctl.h"
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/** Set to 1 to enable ioctl() latency tracing.
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 *
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 * Requires CPU timestamp counter!
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 */
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#define DEBUG_LATENCY 0
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/*****************************************************************************/
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/** Copies a string to an ioctl structure.
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 */
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static void ec_ioctl_strcpy(
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        char *target, /**< Target. */
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        const char *source /**< Source. */
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        )
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{
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    if (source) {
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        strncpy(target, source, EC_IOCTL_STRING_SIZE);
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        target[EC_IOCTL_STRING_SIZE - 1] = 0;
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    } else {
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        target[0] = 0;
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    }
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}
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/*****************************************************************************/
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/** Get module information.
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 */
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static int ec_ioctl_module(
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        void *arg /**< Userspace address to store the results. */
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        )
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{
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    ec_ioctl_module_t data;
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    data.ioctl_version_magic = EC_IOCTL_VERSION_MAGIC;
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    data.master_count = ec_master_count();
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    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
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        return -EFAULT;
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    return 0;
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}
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/*****************************************************************************/
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/** Get master information.
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 */
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static int ec_ioctl_master(
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        ec_master_t *master, /**< EtherCAT master. */
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        void *arg /**< Userspace address to store the results. */
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        )
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{
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    ec_ioctl_master_t io;
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    unsigned int dev_idx, j;
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    if (down_interruptible(&master->master_sem)) {
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        return -EINTR;
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    }
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    io.slave_count = master->slave_count;
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    io.config_count = ec_master_config_count(master);
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    io.domain_count = ec_master_domain_count(master);
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#ifdef EC_EOE
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    io.eoe_handler_count = ec_master_eoe_handler_count(master);
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#endif
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    io.phase = (uint8_t) master->phase;
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    io.active = (uint8_t) master->active;
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    io.scan_busy = master->scan_busy;
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    up(&master->master_sem);
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    if (down_interruptible(&master->device_sem)) {
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        return -EINTR;
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    }
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    for (dev_idx = EC_DEVICE_MAIN;
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            dev_idx < ec_master_num_devices(master); dev_idx++) {
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        ec_device_t *device = &master->devices[dev_idx];
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        if (device->dev) {
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            memcpy(io.devices[dev_idx].address, device->dev->dev_addr,
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                    ETH_ALEN);
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        } else {
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            memcpy(io.devices[dev_idx].address, master->macs[dev_idx],
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                    ETH_ALEN);
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        }
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        io.devices[dev_idx].attached = device->dev ? 1 : 0;
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        io.devices[dev_idx].link_state = device->link_state ? 1 : 0;
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        io.devices[dev_idx].tx_count = device->tx_count;
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        io.devices[dev_idx].rx_count = device->rx_count;
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        io.devices[dev_idx].tx_bytes = device->tx_bytes;
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        io.devices[dev_idx].rx_bytes = device->rx_bytes;
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   136
        io.devices[dev_idx].tx_errors = device->tx_errors;
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   137
        for (j = 0; j < EC_RATE_COUNT; j++) {
2453
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   138
            io.devices[dev_idx].tx_frame_rates[j] =
2433
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   139
                device->tx_frame_rates[j];
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   140
            io.devices[dev_idx].rx_frame_rates[j] =
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   141
                device->rx_frame_rates[j];
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   142
            io.devices[dev_idx].tx_byte_rates[j] =
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   143
                device->tx_byte_rates[j];
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   144
            io.devices[dev_idx].rx_byte_rates[j] =
2433
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   145
                device->rx_byte_rates[j];
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   146
        }
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    }
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    io.num_devices = ec_master_num_devices(master);
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   149
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    io.tx_count = master->device_stats.tx_count;
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   151
    io.rx_count = master->device_stats.rx_count;
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    io.tx_bytes = master->device_stats.tx_bytes;
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   153
    io.rx_bytes = master->device_stats.rx_bytes;
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   154
    for (j = 0; j < EC_RATE_COUNT; j++) {
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   155
        io.tx_frame_rates[j] =
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            master->device_stats.tx_frame_rates[j];
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   157
        io.rx_frame_rates[j] =
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   158
            master->device_stats.rx_frame_rates[j];
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   159
        io.tx_byte_rates[j] =
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   160
            master->device_stats.tx_byte_rates[j];
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   161
        io.rx_byte_rates[j] =
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   162
            master->device_stats.rx_byte_rates[j];
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   163
        io.loss_rates[j] =
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   164
            master->device_stats.loss_rates[j];
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   165
    }
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   166
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    up(&master->device_sem);
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   168
2453
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   169
    io.app_time = master->app_time;
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   170
    io.ref_clock =
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   171
        master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff;
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   172
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   173
    if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
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   174
        return -EFAULT;
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   175
    }
2433
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   176
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   177
    return 0;
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   178
}
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   179
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   180
/*****************************************************************************/
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   181
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   182
/** Get slave information.
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   183
 */
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   184
static int ec_ioctl_slave(
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   185
        ec_master_t *master, /**< EtherCAT master. */
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   186
        void *arg /**< Userspace address to store the results. */
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diff changeset
   187
        )
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   188
{
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   189
    ec_ioctl_slave_t data;
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   190
    const ec_slave_t *slave;
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   191
    int i;
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   192
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   193
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
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diff changeset
   194
        return -EFAULT;
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diff changeset
   195
    }
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diff changeset
   196
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diff changeset
   197
    if (down_interruptible(&master->master_sem))
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diff changeset
   198
        return -EINTR;
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diff changeset
   199
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diff changeset
   200
    if (!(slave = ec_master_find_slave_const(
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parents:
diff changeset
   201
                    master, 0, data.position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   202
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   203
        EC_MASTER_ERR(master, "Slave %u does not exist!\n", data.position);
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diff changeset
   204
        return -EINVAL;
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diff changeset
   205
    }
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diff changeset
   206
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   207
    data.device_index = slave->device_index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   208
    data.vendor_id = slave->sii.vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   209
    data.product_code = slave->sii.product_code;
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diff changeset
   210
    data.revision_number = slave->sii.revision_number;
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   211
    data.serial_number = slave->sii.serial_number;
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diff changeset
   212
    data.alias = slave->effective_alias;
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   213
    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;
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diff changeset
   214
    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;
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parents:
diff changeset
   215
    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;
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parents:
diff changeset
   216
    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   217
    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;
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parents:
diff changeset
   218
    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;
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parents:
diff changeset
   219
    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;
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parents:
diff changeset
   220
    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   221
    data.mailbox_protocols = slave->sii.mailbox_protocols;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   222
    data.has_general_category = slave->sii.has_general;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   223
    data.coe_details = slave->sii.coe_details;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   224
    data.general_flags = slave->sii.general_flags;
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parents:
diff changeset
   225
    data.current_on_ebus = slave->sii.current_on_ebus;
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parents:
diff changeset
   226
    for (i = 0; i < EC_MAX_PORTS; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   227
        data.ports[i].desc = slave->ports[i].desc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   228
        data.ports[i].link.link_up = slave->ports[i].link.link_up;
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parents:
diff changeset
   229
        data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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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;
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parents:
diff changeset
   232
        data.ports[i].receive_time = slave->ports[i].receive_time;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   233
        if (slave->ports[i].next_slave) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   234
            data.ports[i].next_slave =
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diff changeset
   235
                slave->ports[i].next_slave->ring_position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   236
        } else {
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diff changeset
   237
            data.ports[i].next_slave = 0xffff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   238
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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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.
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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.
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parents:
diff changeset
   242
    data.dc_supported = slave->base_dc_supported;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   243
    data.dc_range = slave->base_dc_range;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   244
    data.has_dc_system_time = slave->has_dc_system_time;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   245
    data.transmission_delay = slave->transmission_delay;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   246
    data.al_state = slave->current_state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   247
    data.error_flag = slave->error_flag;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   248
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   249
    data.sync_count = slave->sii.sync_count;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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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.
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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.
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parents:
diff changeset
   254
    ec_ioctl_strcpy(data.order, slave->sii.order);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   255
    ec_ioctl_strcpy(data.name, slave->sii.name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   256
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   257
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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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.
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parents:
diff changeset
   260
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   261
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   262
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   263
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   264
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   265
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   266
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
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   267
/** Get slave sync manager information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   268
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   269
static int ec_ioctl_slave_sync(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   270
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   271
        void *arg /**< Userspace address to store the results. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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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.
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diff changeset
   274
    ec_ioctl_slave_sync_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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   275
    const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   276
    const ec_sync_t *sync;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   277
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   278
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   279
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   280
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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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.
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parents:
diff changeset
   283
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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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.
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parents:
diff changeset
   287
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   288
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   289
                data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   290
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   291
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   292
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   293
    if (data.sync_index >= slave->sii.sync_count) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   294
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   295
        EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   296
                data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   297
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   298
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   299
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   300
    sync = &slave->sii.syncs[data.sync_index];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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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.
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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.
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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
2474
fb2fe8fae501 Fixed some ioctl() return values.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
   800
    return ret;
2433
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
2477
1d5ebfb7fec1 Fixed some ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 2474
diff changeset
  1721
    if (unlikely(!ctx->requested)) {
1d5ebfb7fec1 Fixed some ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 2474
diff changeset
  1722
        return -EPERM;
1d5ebfb7fec1 Fixed some ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 2474
diff changeset
  1723
    }
1d5ebfb7fec1 Fixed some ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 2474
diff changeset
  1724
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1725
    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
  1726
                sizeof(send_interval))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1727
        return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1730
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1731
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1732
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1733
    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
  1734
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1735
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1736
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1737
}
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
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1740
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1741
/** Send frames.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1742
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1743
static int ec_ioctl_send(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1744
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1745
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1746
        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
  1747
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1748
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1749
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1750
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1751
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1752
    down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1753
    ecrt_master_send(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1754
    up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1755
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1756
}
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
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1759
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1760
/** Receive frames.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1761
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1762
static int ec_ioctl_receive(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1763
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1764
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1765
        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
  1766
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1767
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1768
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1769
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1770
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1771
    down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1772
    ecrt_master_receive(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1773
    up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1774
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1775
}
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
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1778
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1779
/** Get the master state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1780
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1781
static int ec_ioctl_master_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1782
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1783
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1784
        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
  1785
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1786
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1787
    ec_master_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1788
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1789
    ecrt_master_state(master, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1790
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1791
    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
  1792
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1793
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1794
    return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1799
/** Get the master state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1800
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1801
static int ec_ioctl_master_link_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1802
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1803
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1804
        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
  1805
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1806
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1807
    ec_ioctl_link_state_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1808
    ec_master_link_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1809
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1810
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1811
    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
  1812
        return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1815
    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
  1816
    if (ret < 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1817
        return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1818
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1819
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1820
    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
  1821
        return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1824
    return 0;
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
/*****************************************************************************/
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
/** Set the master dc app time.
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
static int ec_ioctl_app_time(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1832
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1833
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1834
        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
  1835
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1836
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1837
    ec_ioctl_app_time_t data;
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
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1840
        return -EPERM;
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 (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
  1843
        return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1846
    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
  1847
    return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1850
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1851
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1852
/** Sync the reference clock.
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
static int ec_ioctl_sync_ref(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1855
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1856
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1857
        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
  1858
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1859
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1860
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1861
        return -EPERM;
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
    down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1864
    ecrt_master_sync_reference_clock(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1865
    up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1866
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1867
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1868
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1869
/*****************************************************************************/
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
/** Sync the slave clocks.
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
static int ec_ioctl_sync_slaves(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1874
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1875
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1876
        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
  1877
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1878
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1879
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1880
        return -EPERM;
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
    down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1883
    ecrt_master_sync_slave_clocks(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1884
    up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1885
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1886
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1887
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1888
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1889
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1890
/** 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
  1891
 */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1892
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
  1893
        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
  1894
        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
  1895
        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
  1896
        )
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1897
{
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1898
    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
  1899
    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
  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
    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
  1902
        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
  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
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1905
    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
  1906
    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
  1907
        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
  1908
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1909
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1910
    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
  1911
        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
  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
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 0;
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
/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1918
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1919
/** Queue the sync monitoring datagram.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1920
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1921
static int ec_ioctl_sync_mon_queue(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1922
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1923
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1924
        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
  1925
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1926
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1927
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1928
        return -EPERM;
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
    down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1931
    ecrt_master_sync_monitor_queue(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1932
    up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1933
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1934
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1935
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1936
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1937
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1938
/** Processes the sync monitoring datagram.
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
static int ec_ioctl_sync_mon_process(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1941
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1942
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1943
        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
  1944
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1945
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1946
    uint32_t time_diff;
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
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1949
        return -EPERM;
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
    down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1952
    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
  1953
    up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1954
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1955
    if (copy_to_user((void __user *) arg, &time_diff, sizeof(time_diff)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1956
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1957
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1958
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1959
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1960
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1961
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1962
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1963
/** Reset configuration.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1964
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1965
static int ec_ioctl_reset(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1966
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1967
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1968
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1969
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1970
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1971
    down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1972
    ecrt_master_reset(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1973
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1974
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1975
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1976
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1977
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1978
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1979
/** Configure a sync manager.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1980
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1981
static int ec_ioctl_sc_sync(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1982
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1983
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1984
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1985
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1986
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1987
    ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1988
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1989
    unsigned int i;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1990
    int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1991
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1992
    if (unlikely(!ctx->requested)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1993
        ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1994
        goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1995
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1996
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1997
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1998
        ret = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1999
        goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2000
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2001
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2002
    if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2003
        ret = -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2004
        goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2005
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2006
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2007
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2008
        ret = -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2009
        goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2010
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2011
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2012
    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2013
        if (data.syncs[i].config_this) {
2474
fb2fe8fae501 Fixed some ioctl() return values.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2014
            ret = ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir,
fb2fe8fae501 Fixed some ioctl() return values.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2015
                        data.syncs[i].watchdog_mode);
fb2fe8fae501 Fixed some ioctl() return values.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2016
            if (ret) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2017
                goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2018
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2019
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2020
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2021
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2022
out_up:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2023
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2024
out_return:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2025
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2026
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2027
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2028
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2029
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2030
/** Configure a slave's watchdogs.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2031
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2032
static int ec_ioctl_sc_watchdog(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2033
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2034
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2035
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2036
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2037
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2038
    ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2039
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2040
    int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2041
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2042
    if (unlikely(!ctx->requested)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2043
        ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2044
        goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2045
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2046
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2047
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2048
        ret = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2049
        goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2050
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2051
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2052
    if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2053
        ret = -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2054
        goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2055
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2056
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2057
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2058
        ret = -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2059
        goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2060
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2061
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2062
    ecrt_slave_config_watchdog(sc,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2063
            data.watchdog_divider, data.watchdog_intervals);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2064
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2065
out_up:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2066
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2067
out_return:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2068
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2069
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2070
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2071
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2072
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2073
/** Add a PDO to the assignment.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2074
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2075
static int ec_ioctl_sc_add_pdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2076
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2077
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2078
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2079
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2080
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2081
    ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2082
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2083
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2084
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2085
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2086
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2087
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2088
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2089
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2090
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2091
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2092
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2093
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2094
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2095
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2096
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2097
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2098
    up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2099
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2100
    return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2101
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2102
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2103
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2104
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2105
/** Clears the PDO assignment.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2106
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2107
static int ec_ioctl_sc_clear_pdos(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2108
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2109
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2110
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2111
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2112
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2113
    ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2114
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2115
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2116
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2117
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2118
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2119
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2120
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2121
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2122
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2123
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2124
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2125
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2126
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2127
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2128
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2129
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2130
    up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2131
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2132
    ecrt_slave_config_pdo_assign_clear(sc, data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2133
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2134
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2135
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2136
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2137
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2138
/** Add an entry to a PDO's mapping.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2139
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2140
static int ec_ioctl_sc_add_entry(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2141
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2142
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2143
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2144
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2145
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2146
    ec_ioctl_add_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2147
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2148
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2149
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2150
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2151
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2152
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2153
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2154
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2155
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2156
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2157
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2158
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2159
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2160
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2161
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2162
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2163
    up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2164
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2165
    return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2166
            data.entry_index, data.entry_subindex, data.entry_bit_length);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2167
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2168
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2169
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2170
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2171
/** Clears the mapping of a PDO.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2172
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2173
static int ec_ioctl_sc_clear_entries(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2174
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2175
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2176
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2177
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2178
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2179
    ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2180
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2181
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2182
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2183
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2184
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2185
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2186
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2187
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2188
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2189
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2190
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2191
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2192
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2193
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2194
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2195
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2196
    up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2197
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2198
    ecrt_slave_config_pdo_mapping_clear(sc, data.index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2199
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2200
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2201
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2202
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2203
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2204
/** Registers a PDO entry.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2205
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2206
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
  2207
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2208
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2209
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2210
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2211
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2212
    ec_ioctl_reg_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2213
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2214
    ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2215
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2216
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2217
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2218
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2219
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2220
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2221
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2222
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2223
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2224
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2225
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2226
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2227
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2228
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2229
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2230
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2231
    if (!(domain = ec_master_find_domain(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2232
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2233
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2234
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2235
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2236
    up(&master->master_sem); /** \fixme sc or domain could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2237
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2238
    ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2239
            data.entry_subindex, domain, &data.bit_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2240
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2241
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2242
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2243
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2244
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2245
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2246
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2247
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2248
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2249
/** 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
  2250
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2251
static int ec_ioctl_sc_dc(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2252
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2253
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2254
        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
  2255
        )
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
    ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2258
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2259
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2260
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2261
        return -EPERM;
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
    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
  2264
        return -EFAULT;
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 (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2267
        return -EINTR;
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 (!(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
  2270
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2271
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2272
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2273
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2274
    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
  2275
            data.dc_sync[0].cycle_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2276
            data.dc_sync[0].shift_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2277
            data.dc_sync[1].cycle_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2278
            data.dc_sync[1].shift_time);
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
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2281
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2282
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2283
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2284
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2287
/** Configures an SDO.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2288
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2289
static int ec_ioctl_sc_sdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2290
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2291
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2292
        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
  2293
        )
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
    ec_ioctl_sc_sdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2296
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2297
    uint8_t *sdo_data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2298
    int ret;
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
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2301
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2302
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2303
    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
  2304
        return -EFAULT;
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 (!data.size)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2307
        return -EINVAL;
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 (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2310
        return -ENOMEM;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2313
    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
  2314
        kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2315
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2316
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2317
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2318
    if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2319
        kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2320
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2321
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2322
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2323
    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
  2324
        up(&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 -ENOENT;
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
    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
  2330
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2331
    if (data.complete_access) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2332
        ret = ecrt_slave_config_complete_sdo(sc,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2333
                data.index, sdo_data, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2334
    } else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2335
        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
  2336
                data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2337
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2338
    kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2339
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2340
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2341
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2342
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2343
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2344
/** Set the emergency ring buffer size.
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2345
 */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2346
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
  2347
        ec_master_t *master, /**< EtherCAT master. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2348
        void *arg, /**< ioctl() argument. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2349
        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
  2350
        )
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
    ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2353
    ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2354
    int ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2355
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2356
    if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2357
        return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2358
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2359
    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
  2360
        return -EFAULT;
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 (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2363
        return -EINTR;
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
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2366
    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
  2367
        up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2368
        return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2369
    }
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
    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
  2372
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
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2375
    return ret;
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
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
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2380
/** 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
  2381
 */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2382
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
  2383
        ec_master_t *master, /**< EtherCAT master. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2384
        void *arg, /**< ioctl() argument. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2385
        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
  2386
        )
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
    ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2389
    ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2390
    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
  2391
    int ret;
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
    if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2394
        return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2395
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2396
    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
  2397
        return -EFAULT;
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 (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2400
        return -EINTR;
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
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2403
    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
  2404
        up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2405
        return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2406
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2407
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2408
    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
  2409
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
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2412
    if (ret < 0) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2413
        return ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2414
    }
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
    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
  2417
        return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2418
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2419
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2420
    return ret;
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
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2423
/*****************************************************************************/
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
/** Clear the emergency ring.
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2426
 */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2427
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
  2428
        ec_master_t *master, /**< EtherCAT master. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2429
        void *arg, /**< ioctl() argument. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2430
        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
  2431
        )
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
    ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2434
    ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2435
    int ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2436
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2437
    if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2438
        return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2439
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2440
    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
  2441
        return -EFAULT;
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 (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2444
        return -EINTR;
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
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2447
    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
  2448
        up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2449
        return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2450
    }
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
    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
  2453
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
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2456
    return ret;
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
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2459
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2460
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2461
/** Get the number of emergency overruns.
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2462
 */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2463
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
  2464
        ec_master_t *master, /**< EtherCAT master. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2465
        void *arg, /**< ioctl() argument. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2466
        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
  2467
        )
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2468
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2469
    ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2470
    ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2471
    int ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2472
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2473
    if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2474
        return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2475
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2476
    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
  2477
        return -EFAULT;
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 (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2480
        return -EINTR;
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
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2483
    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
  2484
        up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2485
        return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2486
    }
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
    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
  2489
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
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2492
    if (ret < 0) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2493
        return ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2494
    }
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
    io.overruns = ret;
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 (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
  2499
        return -EFAULT;
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
    return 0;
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
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2505
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2506
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2507
/** Create an SDO request.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2508
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2509
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
  2510
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2511
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2512
        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
  2513
        )
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
    ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2516
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2517
    ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2518
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2519
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2520
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2521
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2522
    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
  2523
        return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2526
    data.request_index = 0;
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 (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2529
        return -EINTR;
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
    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
  2532
    if (!sc) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2533
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2534
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2535
    }
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
    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
  2538
        data.request_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2539
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2540
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2541
    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
  2542
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2543
    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
  2544
            data.sdo_subindex, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2545
    if (IS_ERR(req))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2546
        return PTR_ERR(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2547
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2548
    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
  2549
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2550
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2551
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2552
}
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
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2555
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2556
/** 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
  2557
 */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2558
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
  2559
        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
  2560
        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
  2561
        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
  2562
        )
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
    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
  2565
    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
  2566
    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
  2567
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2568
    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
  2569
        return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2570
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2571
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2572
    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
  2573
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2574
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2575
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2576
    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
  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 (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
  2579
        return -EINTR;
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
    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
  2583
    if (!sc) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2584
        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
  2585
        return -ENOENT;
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
    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
  2589
        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
  2590
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2591
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2592
    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
  2593
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2594
    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
  2595
    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
  2596
        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
  2597
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2598
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2599
    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
  2600
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2601
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2602
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2603
    return 0;
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
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2606
/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2607
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2608
/** Create a VoE handler.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2609
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2610
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
  2611
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2612
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2613
        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
  2614
        )
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
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2617
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2618
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2619
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2620
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2621
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2622
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2623
    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
  2624
        return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2627
    data.voe_index = 0;
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 (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2630
        return -EINTR;
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
    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
  2633
    if (!sc) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2634
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2635
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2636
    }
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
    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
  2639
        data.voe_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2640
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2641
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2642
    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
  2643
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2644
    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
  2645
    if (IS_ERR(voe))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2646
        return PTR_ERR(voe);
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
    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
  2649
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2650
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2651
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2652
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2653
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2654
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2655
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2656
/** Get the slave configuration's state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2657
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2658
static int ec_ioctl_sc_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2659
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2660
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2661
        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
  2662
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2663
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2664
    ec_ioctl_sc_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2665
    const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2666
    ec_slave_config_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2667
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2668
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2669
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2670
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2671
    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
  2672
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2673
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2674
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2675
    /* 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
  2676
     * meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2677
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2678
    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
  2679
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2682
    ecrt_slave_config_state(sc, &state);
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 (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
  2685
        return -EFAULT;
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
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2688
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2689
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2690
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2691
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2692
/** Configures an IDN.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2693
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2694
static int ec_ioctl_sc_idn(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2695
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2696
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2697
        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
  2698
        )
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
    ec_ioctl_sc_idn_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2701
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2702
    uint8_t *data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2703
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2704
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2705
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2706
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2707
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2708
    if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2709
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2710
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2711
    if (!ioctl.size)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2712
        return -EINVAL;
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 (!(data = kmalloc(ioctl.size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2715
        return -ENOMEM;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2718
    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
  2719
        kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2720
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2721
    }
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
    if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2724
        kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2725
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2726
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2727
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2728
    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
  2729
        up(&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 -ENOENT;
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
    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
  2735
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2736
    ret = ecrt_slave_config_idn(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2737
            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
  2738
    kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2739
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2740
}
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
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2743
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2744
/** 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
  2745
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2746
static int ec_ioctl_domain_offset(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2747
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2748
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2749
        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
  2750
        )
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
    int offset = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2753
    const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2754
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2755
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2756
        return -EPERM;
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
    if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2759
        return -EINTR;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2762
    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
  2763
        if (domain->index == (unsigned int) arg) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2764
            up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2765
            return offset;
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
        offset += ecrt_domain_size(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2768
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2769
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2770
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2771
    return -ENOENT;
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
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
/** Process the domain.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2777
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2778
static int ec_ioctl_domain_process(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2779
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2780
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2781
        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
  2782
        )
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
    ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2785
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2786
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2787
        return -EPERM;
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
    /* 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
  2790
     * the meantime. */
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 (!(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
  2793
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2796
    ecrt_domain_process(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2797
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2798
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2799
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
/** Queue the domain.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2803
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2804
static int ec_ioctl_domain_queue(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2805
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2806
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2807
        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
  2808
        )
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
    ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2811
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2812
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2813
        return -EPERM;
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
    /* 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
  2816
     * the meantime. */
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 (!(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
  2819
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2822
    ecrt_domain_queue(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2823
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2824
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2825
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
/** Get the domain state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2829
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2830
static int ec_ioctl_domain_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2831
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2832
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2833
        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
  2834
        )
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
    ec_ioctl_domain_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2837
    const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2838
    ec_domain_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2839
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2840
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2841
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2842
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2843
    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
  2844
        return -EFAULT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2847
    /* 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
  2848
     * the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2849
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2850
    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
  2851
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2854
    ecrt_domain_state(domain, &state);
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 (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
  2857
        return -EFAULT;
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
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2860
}
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
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2863
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  2864
/** 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
  2865
 */
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  2866
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
  2867
        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
  2868
        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
  2869
        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
  2870
        )
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
    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
  2873
    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
  2874
    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
  2875
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  2876
    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
  2877
        return -EPERM;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  2878
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  2879
    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
  2880
        return -EFAULT;
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
    /* 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
  2883
     * 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
  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 (!(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
  2886
        return -ENOENT;
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
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  2889
    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
  2890
        return -ENOENT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  2891
    }
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  2892
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  2893
    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
  2894
    return 0;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  2895
}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  2896
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
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2899
/** Sets an SDO request's timeout.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2900
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2901
static int ec_ioctl_sdo_request_timeout(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2902
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2903
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2904
        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
  2905
        )
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
    ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2908
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2909
    ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2910
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2911
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2912
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2913
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2914
    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
  2915
        return -EFAULT;
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
    /* 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
  2918
     * deleted in the meantime. */
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 (!(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
  2921
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2924
    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
  2925
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2926
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2927
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2928
    ecrt_sdo_request_timeout(req, data.timeout);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2929
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2930
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2931
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2932
/*****************************************************************************/
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
/** Gets an SDO request's state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2935
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2936
static int ec_ioctl_sdo_request_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2937
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2938
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2939
        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
  2940
        )
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
    ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2943
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2944
    ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2945
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2946
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2947
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2948
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2949
    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
  2950
        return -EFAULT;
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
    /* 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
  2953
     * deleted in the meantime. */
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 (!(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
  2956
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2959
    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
  2960
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2961
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2962
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2963
    data.state = ecrt_sdo_request_state(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2964
    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
  2965
        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
  2966
    else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2967
        data.size = 0;
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
    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
  2970
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2971
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2972
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2973
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2974
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2975
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2976
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2977
/** Starts an SDO read operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2978
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2979
static int ec_ioctl_sdo_request_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2980
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2981
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2982
        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
  2983
        )
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
    ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2986
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2987
    ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2988
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2989
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2990
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2991
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2992
    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
  2993
        return -EFAULT;
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
    /* 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
  2996
     * deleted in the meantime. */
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 (!(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
  2999
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3000
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3001
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3002
    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
  3003
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3004
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3005
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3006
    ecrt_sdo_request_read(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3007
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3008
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3009
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3010
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3011
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3012
/** Starts an SDO write operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3013
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3014
static int ec_ioctl_sdo_request_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3015
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3016
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3017
        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
  3018
        )
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
    ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3021
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3022
    ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3023
    int ret;
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
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3026
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3027
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3028
    if (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
  3029
        return -EFAULT;
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 (!data.size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3032
        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
  3033
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3034
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3035
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3036
    /* 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
  3037
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3038
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3039
    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
  3040
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3043
    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
  3044
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3045
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3046
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3047
    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
  3048
    if (ret)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3049
        return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3050
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3051
    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
  3052
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3053
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3054
    req->data_size = data.size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3055
    ecrt_sdo_request_write(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3056
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3057
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3058
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3061
/** Read SDO data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3062
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3063
static int ec_ioctl_sdo_request_data(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3064
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3065
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3066
        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
  3067
        )
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
    ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3070
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3071
    ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3072
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3073
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3074
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3075
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3076
    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
  3077
        return -EFAULT;
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
    /* 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
  3080
     * deleted in the meantime. */
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 (!(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
  3083
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3086
    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
  3087
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3088
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3089
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3090
    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
  3091
                ecrt_sdo_request_data_size(req)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3092
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3093
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3094
    return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3097
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3098
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3099
/** 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
  3100
 */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3101
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
  3102
        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
  3103
        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
  3104
        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
  3105
        )
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
    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
  3108
    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
  3109
    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
  3110
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3111
    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
  3112
        return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3113
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3114
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3115
    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
  3116
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3117
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3118
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3119
    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
  3120
        return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3121
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3122
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3123
    /* 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
  3124
     * 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
  3125
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3126
    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
  3127
        return -ENOENT;
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
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3130
    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
  3131
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3132
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3133
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3134
    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
  3135
                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
  3136
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3137
    }
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
    return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3140
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3141
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3142
/*****************************************************************************/
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
/** 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
  3145
 */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3146
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
  3147
        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
  3148
        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
  3149
        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
  3150
        )
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
    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
  3153
    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
  3154
    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
  3155
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3156
    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
  3157
        return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3158
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3159
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3160
    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
  3161
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3162
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3163
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3164
    /* 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
  3165
     * 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
  3166
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3167
    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
  3168
        return -ENOENT;
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
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3171
    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
  3172
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3173
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3174
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3175
    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
  3176
    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
  3177
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3178
    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
  3179
        return -EFAULT;
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
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3182
    return 0;
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
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3185
/*****************************************************************************/
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
/** 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
  3188
 */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3189
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
  3190
        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
  3191
        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
  3192
        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
  3193
        )
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
    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
  3196
    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
  3197
    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
  3198
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3199
    if (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
  3200
        return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3201
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3202
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3203
    if (copy_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
  3204
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3205
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3206
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3207
    /* 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
  3208
     * 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
  3209
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3210
    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
  3211
        return -ENOENT;
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
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3214
    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
  3215
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3216
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3217
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3218
    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
  3219
        return -EOVERFLOW;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3220
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3221
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3222
    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
  3223
                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
  3224
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3225
    }
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
    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
  3228
    return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3229
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3230
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
/** 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
  3234
 */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3235
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
  3236
        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
  3237
        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
  3238
        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
  3239
        )
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
    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
  3242
    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
  3243
    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
  3244
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3245
    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
  3246
        return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3247
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3248
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3249
    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
  3250
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3251
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3252
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3253
    /* 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
  3254
     * 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
  3255
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3256
    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
  3257
        return -ENOENT;
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
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3260
    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
  3261
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3262
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3263
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3264
    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
  3265
        return -EOVERFLOW;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3266
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3267
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3268
    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
  3269
    return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3270
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3271
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3272
/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3273
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3274
/** Sets the VoE send header.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3275
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3276
static int ec_ioctl_voe_send_header(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3277
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3278
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3279
        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
  3280
        )
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
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3283
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3284
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3285
    uint32_t vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3286
    uint16_t vendor_type;
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
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3289
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3290
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3291
    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
  3292
        return -EFAULT;
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 (get_user(vendor_id, data.vendor_id))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3295
        return -EFAULT;
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 (get_user(vendor_type, data.vendor_type))
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
    /* 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
  3301
     * deleted in the meantime. */
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 (!(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
  3304
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3307
    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
  3308
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3309
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3310
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3311
    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
  3312
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3313
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3314
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
/** Gets the received VoE header.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3318
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3319
static int ec_ioctl_voe_rec_header(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3320
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3321
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3322
        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
  3323
        )
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
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3326
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3327
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3328
    uint32_t vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3329
    uint16_t vendor_type;
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
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3332
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3333
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3334
    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
  3335
        return -EFAULT;
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
    /* 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
  3338
     * deleted in the meantime. */
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 (!(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
  3341
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3344
    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
  3345
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3346
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3347
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3348
    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
  3349
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3350
    if (likely(data.vendor_id))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3351
        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
  3352
            return -EFAULT;
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
    if (likely(data.vendor_type))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3355
        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
  3356
            return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3357
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3358
    return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3361
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3362
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3363
/** Starts a VoE read operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3364
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3365
static int ec_ioctl_voe_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3366
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3367
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3368
        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
  3369
        )
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
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3372
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3373
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3374
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3375
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3376
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3377
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3378
    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
  3379
        return -EFAULT;
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
    /* 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
  3382
     * deleted in the meantime. */
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 (!(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
  3385
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3388
    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
  3389
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3390
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3391
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3392
    ecrt_voe_handler_read(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3393
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3394
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3395
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
/** 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
  3399
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3400
static int ec_ioctl_voe_read_nosync(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3401
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3402
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3403
        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
  3404
        )
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
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3407
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3408
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3409
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3410
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3411
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3412
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3413
    if (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
  3414
        return -EFAULT;
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
    /* 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
  3417
     * deleted in the meantime. */
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 (!(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
  3420
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3423
    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
  3424
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3425
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3426
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3427
    ecrt_voe_handler_read_nosync(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3428
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3429
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3430
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3431
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3432
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3433
/** Starts a VoE write operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3434
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3435
static int ec_ioctl_voe_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3436
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3437
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3438
        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
  3439
        )
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
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3442
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3443
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3444
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3445
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3446
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3447
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3448
    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
  3449
        return -EFAULT;
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
    /* 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
  3452
     * deleted in the meantime. */
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 (!(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
  3455
        return -ENOENT;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3458
    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
  3459
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3460
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3461
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3462
    if (data.size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3463
        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
  3464
            return -EOVERFLOW;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3465
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3466
        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
  3467
                    (void __user *) data.data, data.size))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3468
            return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3469
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3470
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3471
    ecrt_voe_handler_write(voe, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3472
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3473
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3474
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3475
/*****************************************************************************/
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
/** Executes the VoE state machine.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3478
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3479
static int ec_ioctl_voe_exec(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3480
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3481
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3482
        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
  3483
        )
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
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3486
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3487
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3488
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3489
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3490
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3491
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3492
    if (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
  3493
        return -EFAULT;
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
    /* 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
  3496
     * deleted in the meantime. */
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 (!(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
  3499
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3500
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3501
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3502
    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
  3503
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3504
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3505
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3506
    data.state = ecrt_voe_handler_execute(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3507
    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
  3508
        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
  3509
    else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3510
        data.size = 0;
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
    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
  3513
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3514
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3515
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3516
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3517
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3518
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3519
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3520
/** Reads the received VoE data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3521
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3522
static int ec_ioctl_voe_data(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3523
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3524
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3525
        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
  3526
        )
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
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3529
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3530
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3531
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3532
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3533
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3534
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3535
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3536
        return -EFAULT;
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
    /* 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
  3539
     * deleted in the meantime. */
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 (!(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
  3542
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3543
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3544
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3545
    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
  3546
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3547
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3548
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3549
    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
  3550
                ecrt_voe_handler_data_size(voe)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3551
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3552
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3553
    return 0;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3556
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3557
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3558
/** 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
  3559
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3560
static int ec_ioctl_slave_foe_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3561
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3562
        void *arg /**< ioctl() argument. */
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
{
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3565
    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
  3566
    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
  3567
    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
  3568
    int ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3569
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3570
    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
  3571
        return -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3572
    }
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3573
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3574
    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
  3575
    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
  3576
    if (ret) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3577
        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
  3578
        return ret;
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
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3581
    ec_foe_request_read(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3582
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3583
    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
  3584
        ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3585
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3586
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3587
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3588
    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
  3589
        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
  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
        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
  3592
                io.slave_position);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3593
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3594
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3595
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  3596
    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
  3597
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3598
    // schedule request.
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3599
    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
  3600
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3601
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3602
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3603
    // wait for processing through FSM
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  3604
    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
  3605
                request.state != EC_INT_REQUEST_QUEUED)) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3606
        // interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3607
        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
  3608
        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
  3609
            list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3610
            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
  3611
            ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3612
            return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3613
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3614
        // request already processing: interrupt not possible.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3615
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3616
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3617
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3618
    // wait until master FSM has finished processing
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  3619
    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
  3620
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3621
    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
  3622
    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
  3623
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3624
    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
  3625
        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
  3626
        ret = -EIO;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3627
    } else {
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3628
        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
  3629
            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
  3630
            ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3631
            return -EOVERFLOW;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3632
        }
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3633
        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
  3634
        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
  3635
                    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
  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 -EFAULT;
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
        ret = 0;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3640
    }
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3641
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3642
    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
  3643
        ret = -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3644
    }
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3645
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3646
    ec_foe_request_clear(&request);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3647
    return ret;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3648
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3649
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3650
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3651
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3652
/** 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
  3653
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3654
static int ec_ioctl_slave_foe_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3655
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3656
        void *arg /**< ioctl() argument. */
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
{
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3659
    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
  3660
    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
  3661
    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
  3662
    int ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3663
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3664
    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
  3665
        return -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3666
    }
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3667
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3668
    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
  3669
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3670
    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
  3671
    if (ret) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3672
        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
  3673
        return ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3674
    }
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
    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
  3677
                (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
  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 -EFAULT;
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
    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
  3683
    ec_foe_request_write(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3684
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3685
    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
  3686
        ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3687
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3688
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3689
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3690
    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
  3691
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3692
        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
  3693
                io.slave_position);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3694
        ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3695
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3696
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3697
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3698
    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
  3699
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3700
    // 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
  3701
    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
  3702
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3703
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3704
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3705
    // wait for processing through FSM
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  3706
    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
  3707
                request.state != EC_INT_REQUEST_QUEUED)) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3708
        // interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3709
        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
  3710
        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
  3711
            // abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3712
            list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3713
            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
  3714
            ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3715
            return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3716
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3717
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3718
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3719
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3720
    // wait until master FSM has finished processing
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  3721
    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
  3722
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3723
    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
  3724
    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
  3725
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3726
    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
  3727
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3728
    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
  3729
        ret = -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3730
    }
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
    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
  3733
    return ret;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3734
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3735
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3736
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3737
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3738
/** Read an SoE IDN.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3739
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3740
static int ec_ioctl_slave_soe_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3741
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3742
        void *arg /**< ioctl() argument. */
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
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3745
    ec_ioctl_slave_soe_read_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3746
    u8 *data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3747
    int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3748
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3749
    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
  3750
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3751
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3752
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3753
    data = kmalloc(ioctl.mem_size, GFP_KERNEL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3754
    if (!data) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3755
        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
  3756
                ioctl.mem_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3757
        return -ENOMEM;
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
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3760
    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
  3761
            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
  3762
            &ioctl.error_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3763
    if (retval) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3764
        kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3765
        return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3766
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3767
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3768
    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
  3769
                data, ioctl.data_size)) {
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 -EFAULT;
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
    kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3774
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3775
    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
  3776
        retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3777
    }
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
    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
  3780
    return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3781
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3782
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
/** 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
  3786
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3787
static int ec_ioctl_slave_soe_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3788
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3789
        void *arg /**< ioctl() argument. */
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
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3792
    ec_ioctl_slave_soe_write_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3793
    u8 *data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3794
    int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3795
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3796
    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
  3797
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3798
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3799
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3800
    data = kmalloc(ioctl.data_size, GFP_KERNEL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3801
    if (!data) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3802
        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
  3803
                ioctl.data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3804
        return -ENOMEM;
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
    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
  3807
        kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3808
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3809
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3810
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3811
    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
  3812
            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
  3813
            &ioctl.error_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3814
    kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3815
    if (retval) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3816
        return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3817
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3818
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3819
    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
  3820
        retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3821
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3822
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3823
    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
  3824
    return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3825
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3826
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
#ifdef EC_IOCTL_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3830
#define EC_IOCTL ec_ioctl_rtdm
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3831
#else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3832
#define EC_IOCTL ec_ioctl
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3833
#endif
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
/** Called when an ioctl() command is issued.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3836
 */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3837
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
  3838
        unsigned int cmd, void *arg)
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3839
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3840
#if DEBUG_LATENCY
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3841
    cycles_t a = get_cycles(), b;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3842
    unsigned int t;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3843
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3844
    int ret;
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
    switch (cmd) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3847
        case EC_IOCTL_MODULE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3848
            ret = ec_ioctl_module(arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3849
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3850
        case EC_IOCTL_MASTER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3851
            ret = ec_ioctl_master(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3852
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3853
        case EC_IOCTL_SLAVE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3854
            ret = ec_ioctl_slave(master, 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_SLAVE_SYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3857
            ret = ec_ioctl_slave_sync(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_SYNC_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3860
            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
  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_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3863
            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
  3864
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3865
        case EC_IOCTL_DOMAIN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3866
            ret = ec_ioctl_domain(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_DOMAIN_FMMU:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3869
            ret = ec_ioctl_domain_fmmu(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_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3872
            ret = ec_ioctl_domain_data(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_MASTER_DEBUG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3875
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3876
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3877
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3878
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3879
            ret = ec_ioctl_master_debug(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3880
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3881
        case EC_IOCTL_MASTER_RESCAN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3882
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3883
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3884
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3885
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3886
            ret = ec_ioctl_master_rescan(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3887
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3888
        case EC_IOCTL_SLAVE_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3889
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3890
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3891
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3892
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3893
            ret = ec_ioctl_slave_state(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3894
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3895
        case EC_IOCTL_SLAVE_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3896
            ret = ec_ioctl_slave_sdo(master, arg);
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
        case EC_IOCTL_SLAVE_SDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3899
            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
  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_UPLOAD:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3902
            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
  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_DOWNLOAD:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3905
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3906
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3907
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3908
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3909
            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
  3910
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3911
        case EC_IOCTL_SLAVE_SII_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3912
            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
  3913
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3914
        case EC_IOCTL_SLAVE_SII_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3915
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3916
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3917
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3918
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3919
            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
  3920
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3921
        case EC_IOCTL_SLAVE_REG_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3922
            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
  3923
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3924
        case EC_IOCTL_SLAVE_REG_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3925
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3926
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3927
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3928
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3929
            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
  3930
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3931
        case EC_IOCTL_SLAVE_FOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3932
            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
  3933
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3934
        case EC_IOCTL_SLAVE_FOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3935
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3936
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3937
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3938
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3939
            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
  3940
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3941
        case EC_IOCTL_SLAVE_SOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3942
            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
  3943
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3944
        case EC_IOCTL_SLAVE_SOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3945
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3946
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3947
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3948
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3949
            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
  3950
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3951
        case EC_IOCTL_CONFIG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3952
            ret = ec_ioctl_config(master, arg);
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
        case EC_IOCTL_CONFIG_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3955
            ret = ec_ioctl_config_pdo(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_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3958
            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
  3959
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3960
        case EC_IOCTL_CONFIG_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3961
            ret = ec_ioctl_config_sdo(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_IDN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3964
            ret = ec_ioctl_config_idn(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
#ifdef EC_EOE
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3967
        case EC_IOCTL_EOE_HANDLER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3968
            ret = ec_ioctl_eoe_handler(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3969
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3970
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3971
        case EC_IOCTL_REQUEST:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3972
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3973
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3974
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3975
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3976
            ret = ec_ioctl_request(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3977
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3978
        case EC_IOCTL_CREATE_DOMAIN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3979
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3980
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3981
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3982
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3983
            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
  3984
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3985
        case EC_IOCTL_CREATE_SLAVE_CONFIG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3986
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3987
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3988
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3989
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3990
            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
  3991
            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
  3992
        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
  3993
            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
  3994
                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
  3995
                break;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  3996
            }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  3997
            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
  3998
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3999
        case EC_IOCTL_ACTIVATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4000
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4001
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4002
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4003
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4004
            ret = ec_ioctl_activate(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4005
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4006
        case EC_IOCTL_DEACTIVATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4007
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4008
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4009
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4010
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4011
            ret = ec_ioctl_deactivate(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4012
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4013
        case EC_IOCTL_SEND:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4014
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4015
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4016
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4017
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4018
            ret = ec_ioctl_send(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4019
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4020
        case EC_IOCTL_RECEIVE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4021
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4022
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4023
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4024
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4025
            ret = ec_ioctl_receive(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4026
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4027
        case EC_IOCTL_MASTER_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4028
            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
  4029
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4030
        case EC_IOCTL_MASTER_LINK_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4031
            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
  4032
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4033
        case EC_IOCTL_APP_TIME:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4034
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4035
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4036
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4037
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4038
            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
  4039
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4040
        case EC_IOCTL_SYNC_REF:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4041
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4042
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4043
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4044
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4045
            ret = ec_ioctl_sync_ref(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4046
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4047
        case EC_IOCTL_SYNC_SLAVES:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4048
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4049
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4050
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4051
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4052
            ret = ec_ioctl_sync_slaves(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4053
            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
  4054
        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
  4055
            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
  4056
                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
  4057
                break;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4058
            }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4059
            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
  4060
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4061
        case EC_IOCTL_SYNC_MON_QUEUE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4062
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4063
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4064
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4065
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4066
            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
  4067
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4068
        case EC_IOCTL_SYNC_MON_PROCESS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4069
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4070
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4071
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4072
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4073
            ret = ec_ioctl_sync_mon_process(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4074
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4075
        case EC_IOCTL_RESET:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4076
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4077
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4078
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4079
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4080
            ret = ec_ioctl_reset(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4081
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4082
        case EC_IOCTL_SC_SYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4083
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4084
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4085
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4086
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4087
            ret = ec_ioctl_sc_sync(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4088
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4089
        case EC_IOCTL_SC_WATCHDOG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4090
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4091
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4092
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4093
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4094
            ret = ec_ioctl_sc_watchdog(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4095
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4096
        case EC_IOCTL_SC_ADD_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4097
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4098
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4099
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4100
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4101
            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
  4102
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4103
        case EC_IOCTL_SC_CLEAR_PDOS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4104
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4105
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4106
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4107
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4108
            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
  4109
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4110
        case EC_IOCTL_SC_ADD_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4111
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4112
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4113
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4114
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4115
            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
  4116
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4117
        case EC_IOCTL_SC_CLEAR_ENTRIES:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4118
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4119
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4120
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4121
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4122
            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
  4123
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4124
        case EC_IOCTL_SC_REG_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4125
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4126
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4127
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4128
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4129
            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
  4130
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4131
        case EC_IOCTL_SC_DC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4132
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4133
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4134
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4135
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4136
            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
  4137
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4138
        case EC_IOCTL_SC_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4139
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4140
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4141
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4142
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4143
            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
  4144
            break;
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4145
        case EC_IOCTL_SC_EMERG_SIZE:
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4146
            if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4147
                ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4148
                break;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4149
            }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4150
            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
  4151
            break;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4152
        case EC_IOCTL_SC_EMERG_POP:
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4153
            if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4154
                ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4155
                break;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4156
            }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4157
            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
  4158
            break;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4159
        case EC_IOCTL_SC_EMERG_CLEAR:
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4160
            if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4161
                ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4162
                break;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4163
            }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4164
            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
  4165
            break;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4166
        case EC_IOCTL_SC_EMERG_OVERRUNS:
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4167
            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
  4168
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4169
        case EC_IOCTL_SC_SDO_REQUEST:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4170
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4171
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4172
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4173
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4174
            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
  4175
            break;
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4176
        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
  4177
            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
  4178
                ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4179
                break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4180
            }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4181
            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
  4182
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4183
        case EC_IOCTL_SC_VOE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4184
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4185
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4186
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4187
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4188
            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
  4189
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4190
        case EC_IOCTL_SC_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4191
            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
  4192
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4193
        case EC_IOCTL_SC_IDN:
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_idn(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_DOMAIN_OFFSET:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4201
            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
  4202
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4203
        case EC_IOCTL_DOMAIN_PROCESS:
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_domain_process(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_QUEUE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4211
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4212
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4213
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4214
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4215
            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
  4216
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4217
        case EC_IOCTL_DOMAIN_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4218
            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
  4219
            break;
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  4220
        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
  4221
            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
  4222
                ret = -EPERM;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  4223
                break;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  4224
            }
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  4225
            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
  4226
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4227
        case EC_IOCTL_SDO_REQUEST_TIMEOUT:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4228
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4229
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4230
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4231
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4232
            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
  4233
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4234
        case EC_IOCTL_SDO_REQUEST_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4235
            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
  4236
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4237
        case EC_IOCTL_SDO_REQUEST_READ:
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_read(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_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4245
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4246
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4247
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4248
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4249
            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
  4250
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4251
        case EC_IOCTL_SDO_REQUEST_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4252
            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
  4253
            break;
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4254
        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
  4255
            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
  4256
            break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4257
        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
  4258
            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
  4259
            break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4260
        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
  4261
            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
  4262
                ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4263
                break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4264
            }
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_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
  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_READ:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4268
            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
  4269
                ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4270
                break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4271
            }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4272
            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
  4273
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4274
        case EC_IOCTL_VOE_SEND_HEADER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4275
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4276
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4277
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4278
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4279
            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
  4280
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4281
        case EC_IOCTL_VOE_REC_HEADER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4282
            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
  4283
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4284
        case EC_IOCTL_VOE_READ:
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_read(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_READ_NOSYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4292
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4293
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4294
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4295
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4296
            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
  4297
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4298
        case EC_IOCTL_VOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4299
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4300
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4301
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4302
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4303
            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
  4304
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4305
        case EC_IOCTL_VOE_EXEC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4306
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4307
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4308
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4309
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4310
            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
  4311
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4312
        case EC_IOCTL_VOE_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4313
            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
  4314
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4315
        case EC_IOCTL_SET_SEND_INTERVAL:
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_set_send_interval(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
        default:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4323
            ret = -ENOTTY;
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
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4326
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4327
#if DEBUG_LATENCY
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4328
    b = get_cycles();
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4329
    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
  4330
    if (t > 50) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4331
        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
  4332
                _IOC_NR(cmd), t);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4333
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4334
#endif
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
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4337
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4338
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4339
/*****************************************************************************/