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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

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 *  published by the Free Software Foundation.

    12

 *

    13

 *  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

    15

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

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 *  Public License for more details.

    17

 *

    18

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

    19

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

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

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 *

    22

 *  ---

    23

 *

    24

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

    25

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master character device.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/vmalloc.h>

    39

#include <linux/mm.h>

    40

    41

#include "cdev.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

#include "voe_handler.h"

    45

#include "ioctl.h"

    46

    47

#define DEBUG_IOCTL 0

    48

    49

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

    50

    51

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

    52

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

    53

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

    54

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

    55

    56

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

    57

 * vm_operations_struct is usable.

    58

 */

    59

#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)

    60

    61

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    62

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

    63

#else

    64

static struct page *eccdev_vma_nopage(

    65

        struct vm_area_struct *, unsigned long, int *);

    66

#endif

    67

    68

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

    69

    70

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

    71

 */

    72

static struct file_operations eccdev_fops = {

    73

    .owner          = THIS_MODULE,

    74

    .open           = eccdev_open,

    75

    .release        = eccdev_release,

    76

    .unlocked_ioctl = eccdev_ioctl,

    77

    .mmap           = eccdev_mmap

    78

};

    79

    80

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

    81

 */

    82

struct vm_operations_struct eccdev_vm_ops = {

    83

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    84

    .fault = eccdev_vma_fault

    85

#else

    86

    .nopage = eccdev_vma_nopage

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#endif

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};

    89

    90

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

    91

    92

/** Private data structure for file handles.

    93

 */

    94

typedef struct {

    95

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

    96

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

    97

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

    98

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

    99

} ec_cdev_priv_t;

   100

   101

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

   102

   103

/** Constructor.

   104

 * 

   105

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

   106

 */

   107

int ec_cdev_init(

   108

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

   109

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

   110

		dev_t dev_num /**< Device number. */

   111

		)

   112

{

   113

    int ret;

   114

   115

    cdev->master = master;

   116

   117

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

   118

    cdev->cdev.owner = THIS_MODULE;

   119

   120

    ret = cdev_add(&cdev->cdev,

   121

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

   122

    if (ret) {

   123

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

   124

    }

   125

   126

    return ret;

   127

}

   128

   129

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

   130

   131

/** Destructor.

   132

 */

   133

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

   134

{

   135

    cdev_del(&cdev->cdev);

   136

}

   137

   138

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

   139

   140

/** Copies a string to an ioctl structure.

   141

 */

   142

void ec_cdev_strcpy(

   143

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

   144

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

   145

        )

   146

{

   147

    if (source) {

   148

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   149

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   150

    } else {

   151

        target[0] = 0;

   152

    }

   153

}

   154

   155

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

   156

   157

/** Get master information.

   158

 */

   159

int ec_cdev_ioctl_master(

   160

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

   161

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

   162

        )

   163

{

   164

    ec_ioctl_master_t data;

   165

   166

    if (down_interruptible(&master->master_sem))

   167

        return -EINTR;

   168

    data.slave_count = master->slave_count;

   169

    data.config_count = ec_master_config_count(master);

   170

    data.domain_count = ec_master_domain_count(master);

   171

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

   172

    up(&master->master_sem);

   173

   174

    if (down_interruptible(&master->device_sem))

   175

        return -EINTR;

   176

   177

    if (master->main_device.dev) {

   178

        memcpy(data.devices[0].address,

   179

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

   180

    } else {

   181

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

   182

    }

   183

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

   184

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

   185

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

   186

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

   187

   188

    if (master->backup_device.dev) {

   189

        memcpy(data.devices[1].address,

   190

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

   191

    } else {

   192

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

   193

    }

   194

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

   195

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

   196

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

   197

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

   198

   199

    up(&master->device_sem);

   200

   201

    data.app_time = master->app_time;

   202

    data.ref_clock = EC_READ_U16(master->sync_datagram.address);

   203

    if (data.ref_clock < 0xffff) {

   204

        // ref_clock address is station_address, output ring position

   205

        data.ref_clock--;

   206

    }

   207

   208

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

   209

        return -EFAULT;

   210

   211

    return 0;

   212

}

   213

   214

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

   215

   216

/** Get slave information.

   217

 */

   218

int ec_cdev_ioctl_slave(

   219

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

   220

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

   221

        )

   222

{

   223

    ec_ioctl_slave_t data;

   224

    const ec_slave_t *slave;

   225

    int i;

   226

   227

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

   228

        return -EFAULT;

   229

    }

   230

   231

    if (down_interruptible(&master->master_sem))

   232

        return -EINTR;

   233

   234

    if (!(slave = ec_master_find_slave_const(

   235

                    master, 0, data.position))) {

   236

        up(&master->master_sem);

   237

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

   238

        return -EINVAL;

   239

    }

   240

   241

    data.vendor_id = slave->sii.vendor_id;

   242

    data.product_code = slave->sii.product_code;

   243

    data.revision_number = slave->sii.revision_number;

   244

    data.serial_number = slave->sii.serial_number;

   245

    data.alias = slave->sii.alias;

   246

    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;

   247

    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;

   248

    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;

   249

    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;

   250

    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;

   251

    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;

   252

    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;

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    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;

   254

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   255

    data.has_general_category = slave->sii.has_general;

   256

    data.coe_details = slave->sii.coe_details;

   257

    data.general_flags = slave->sii.general_flags;

   258

    data.current_on_ebus = slave->sii.current_on_ebus;

   259

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

   260

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

   261

    }

   262

    data.fmmu_bit = slave->base_fmmu_bit_operation;

   263

    data.dc_supported = slave->base_dc_supported;

   264

    data.dc_range = slave->base_dc_range;

   266

    data.al_state = slave->current_state;

   267

    data.error_flag = slave->error_flag;

   268

   269

    data.sync_count = slave->sii.sync_count;

   270

    data.sdo_count = ec_slave_sdo_count(slave);

   271

    data.sii_nwords = slave->sii_nwords;

   272

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

   273

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

   274

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

   275

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

   276

   277

    up(&master->master_sem);

   278

   279

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

   280

        return -EFAULT;

   281

   282

    return 0;

   283

}

   284

   285

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

   286

   287

/** Get slave sync manager information.

   288

 */

   289

int ec_cdev_ioctl_slave_sync(

   290

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

   291

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

   292

        )

   293

{

   294

    ec_ioctl_slave_sync_t data;

   295

    const ec_slave_t *slave;

   296

    const ec_sync_t *sync;

   297

   298

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

   299

        return -EFAULT;

   300

    }

   301

   302

    if (down_interruptible(&master->master_sem))

   303

        return -EINTR;

   304

   305

    if (!(slave = ec_master_find_slave_const(

   306

                    master, 0, data.slave_position))) {

   307

        up(&master->master_sem);

   308

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

   309

        return -EINVAL;

   310

    }

   311

   312

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

   313

        up(&master->master_sem);

   314

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

   315

                data.sync_index, data.slave_position);

   316

        return -EINVAL;

   317

    }

   318

   319

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

   320

   321

    data.physical_start_address = sync->physical_start_address;

   322

    data.default_size = sync->default_length;

   323

    data.control_register = sync->control_register;

   324

    data.enable = sync->enable;

   325

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

   326

   327

    up(&master->master_sem);

   328

   329

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

   330

        return -EFAULT;

   331

   332

    return 0;

   333

}

   334

   335

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

   336

   337

/** Get slave sync manager PDO information.

   338

 */

   339

int ec_cdev_ioctl_slave_sync_pdo(

   340

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

   341

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

   342

        )

   343

{

   344

    ec_ioctl_slave_sync_pdo_t data;

   345

    const ec_slave_t *slave;

   346

    const ec_sync_t *sync;

   347

    const ec_pdo_t *pdo;

   348

   349

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

   350

        return -EFAULT;

   351

    }

   352

   353

    if (down_interruptible(&master->master_sem))

   354

        return -EINTR;

   355

   356

    if (!(slave = ec_master_find_slave_const(

   357

                    master, 0, data.slave_position))) {

   358

        up(&master->master_sem);

   359

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

   360

        return -EINVAL;

   361

    }

   362

   363

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

   364

        up(&master->master_sem);

   365

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

   366

                data.sync_index, data.slave_position);

   367

        return -EINVAL;

   368

    }

   369

   370

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

   371

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   372

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

   373

        up(&master->master_sem);

   374

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

   375

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

   376

                data.pdo_pos, data.slave_position);

   377

        return -EINVAL;

   378

    }

   379

   380

    data.index = pdo->index;

   381

    data.entry_count = ec_pdo_entry_count(pdo);

   382

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

   383

   384

    up(&master->master_sem);

   385

   386

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

   387

        return -EFAULT;

   388

   389

    return 0;

   390

}

   391

   392

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

   393

   394

/** Get slave sync manager PDO entry information.

   395

 */

   396

int ec_cdev_ioctl_slave_sync_pdo_entry(

   397

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

   398

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

   399

        )

   400

{

   401

    ec_ioctl_slave_sync_pdo_entry_t data;

   402

    const ec_slave_t *slave;

   403

    const ec_sync_t *sync;

   404

    const ec_pdo_t *pdo;

   405

    const ec_pdo_entry_t *entry;

   406

   407

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

   408

        return -EFAULT;

   409

    }

   410

   411

    if (down_interruptible(&master->master_sem))

   412

        return -EINTR;

   413

   414

    if (!(slave = ec_master_find_slave_const(

   415

                    master, 0, data.slave_position))) {

   416

        up(&master->master_sem);

   417

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

   418

        return -EINVAL;

   419

    }

   420

   421

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

   422

        up(&master->master_sem);

   423

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

   424

                data.sync_index, data.slave_position);

   425

        return -EINVAL;

   426

    }

   427

   428

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

   429

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   430

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

   431

        up(&master->master_sem);

   432

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

   433

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

   434

                data.pdo_pos, data.slave_position);

   435

        return -EINVAL;

   436

    }

   437

   438

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   439

                    pdo, data.entry_pos))) {

   440

        up(&master->master_sem);

   441

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

   442

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

   443

                data.entry_pos, data.slave_position);

   444

        return -EINVAL;

   445

    }

   446

   447

    data.index = entry->index;

   448

    data.subindex = entry->subindex;

   449

    data.bit_length = entry->bit_length;

   450

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

   451

   452

    up(&master->master_sem);

   453

   454

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

   455

        return -EFAULT;

   456

   457

    return 0;

   458

}

   459

   460

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

   461

   462

/** Get domain information.

   463

 */

   464

int ec_cdev_ioctl_domain(

   465

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

   466

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

   467

        )

   468

{

   469

    ec_ioctl_domain_t data;

   470

    const ec_domain_t *domain;

   471

   472

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

   473

        return -EFAULT;

   474

    }

   475

   476

    if (down_interruptible(&master->master_sem))

   477

        return -EINTR;

   478

   479

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

   480

        up(&master->master_sem);

   481

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

   482

        return -EINVAL;

   483

    }

   484

   485

    data.data_size = domain->data_size;

   486

    data.logical_base_address = domain->logical_base_address;

   487

    data.working_counter = domain->working_counter;

   488

    data.expected_working_counter = domain->expected_working_counter;

   489

    data.fmmu_count = ec_domain_fmmu_count(domain);

   490

   491

    up(&master->master_sem);

   492

   493

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

   494

        return -EFAULT;