master/cdev.c
author Florian Pose <fp@igh-essen.com>
Tue, 10 Jun 2008 09:54:30 +0000
changeset 985 90bcaf9ce3d5
parent 981 5a2bd04c555c
child 987 3c9090138140
permissions -rw-r--r--
Fixed calculation of expected working counter.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  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
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General 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
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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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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 "cdev.h"
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#include "master.h"
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#include "slave_config.h"
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#include "ioctl.h"
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/*****************************************************************************/
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/** \cond */
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int eccdev_open(struct inode *, struct file *);
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int eccdev_release(struct inode *, struct file *);
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ssize_t eccdev_read(struct file *, char __user *, size_t, loff_t *);
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ssize_t eccdev_write(struct file *, const char __user *, size_t, loff_t *);
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long eccdev_ioctl(struct file *, unsigned int, unsigned long);
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/*****************************************************************************/
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static struct file_operations eccdev_fops = {
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    .owner          = THIS_MODULE,
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    .open           = eccdev_open,
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    .release        = eccdev_release,
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    .unlocked_ioctl = eccdev_ioctl
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};
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/** \endcond */
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/*****************************************************************************/
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/** Constructor.
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 * 
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 * \return 0 in case of success, else < 0
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 */
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int ec_cdev_init(
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		ec_cdev_t *cdev, /**< EtherCAT master character device. */
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		ec_master_t *master, /**< Parent master. */
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		dev_t dev_num /**< Device number. */
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		)
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{
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    cdev->master = master;
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    cdev_init(&cdev->cdev, &eccdev_fops);
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    cdev->cdev.owner = THIS_MODULE;
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    if (cdev_add(&cdev->cdev,
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		 MKDEV(MAJOR(dev_num), master->index), 1)) {
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		EC_ERR("Failed to add character device!\n");
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		return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_cdev_clear(ec_cdev_t *cdev /**< EtherCAT XML device */)
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{
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    cdev_del(&cdev->cdev);
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}
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/******************************************************************************
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 * File operations
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 *****************************************************************************/
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int eccdev_open(struct inode *inode, struct file *filp)
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{
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    ec_cdev_t *cdev = container_of(inode->i_cdev, ec_cdev_t, cdev);
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    ec_master_t *master = cdev->master;
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    filp->private_data = cdev;
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    if (master->debug_level)
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        EC_DBG("File opened.\n");
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    return 0;
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}
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/*****************************************************************************/
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int eccdev_release(struct inode *inode, struct file *filp)
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{
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    ec_cdev_t *cdev = (ec_cdev_t *) filp->private_data;
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    ec_master_t *master = cdev->master;
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    if (master->debug_level)
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        EC_DBG("File closed.\n");
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    return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   129
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   130
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   131
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   132
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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parents: 922
diff changeset
   133
long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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parents: 922
diff changeset
   134
{
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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parents: 922
diff changeset
   135
    ec_cdev_t *cdev = (ec_cdev_t *) filp->private_data;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   136
    ec_master_t *master = cdev->master;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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parents: 922
diff changeset
   137
    long retval = 0;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   138
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   139
    if (master->debug_level)
981
5a2bd04c555c Output decoded ioctl command number.
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parents: 980
diff changeset
   140
        EC_DBG("ioctl(filp = %x, cmd = %u (%u), arg = %x)\n",
5a2bd04c555c Output decoded ioctl command number.
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parents: 980
diff changeset
   141
                (u32) filp, (u32) cmd, (u32) _IOC_NR(cmd), (u32) arg);
935
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parents: 922
diff changeset
   142
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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parents: 922
diff changeset
   143
    // FIXME lock
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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parents: 922
diff changeset
   144
    
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   145
    switch (cmd) {
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents: 956
diff changeset
   146
        case EC_IOCTL_MASTER:
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents: 956
diff changeset
   147
            {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents: 956
diff changeset
   148
                ec_ioctl_master_t data;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents: 956
diff changeset
   149
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents: 956
diff changeset
   150
                data.slave_count = master->slave_count;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents: 956
diff changeset
   151
                data.mode = (uint8_t) master->mode;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents: 956
diff changeset
   152
                
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents: 956
diff changeset
   153
                memcpy(data.devices[0].address, master->main_mac, ETH_ALEN); 
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
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parents: 956
diff changeset
   154
                data.devices[0].attached = master->main_device.dev ? 1 : 0;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   155
                data.devices[0].tx_count = master->main_device.tx_count;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   156
                data.devices[0].rx_count = master->main_device.rx_count;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   157
                memcpy(data.devices[1].address, master->backup_mac, ETH_ALEN); 
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   158
                data.devices[1].attached = master->backup_device.dev ? 1 : 0;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   159
                data.devices[1].tx_count = master->backup_device.tx_count;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   160
                data.devices[1].rx_count = master->backup_device.rx_count;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   161
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   162
                if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   163
                    retval = -EFAULT;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   164
                    break;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   165
                }
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   166
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   167
                break;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   168
            }
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   169
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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diff changeset
   170
            retval = master->slave_count;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   171
            break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   172
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   173
        case EC_IOCTL_SLAVE:
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   174
            {
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   175
                ec_ioctl_slave_t data;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   176
                const ec_slave_t *slave;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   177
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   178
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   179
                    retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   180
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   181
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   182
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   183
                if (!(slave = ec_master_find_slave(
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   184
                                master, 0, data.position))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   185
                    EC_ERR("Slave %u does not exist!\n", data.position);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   186
                    retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   187
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   188
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   189
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   190
                data.vendor_id = slave->sii.vendor_id;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   191
                data.product_code = slave->sii.product_code;
938
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
   192
                data.revision_number = slave->sii.revision_number;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
   193
                data.serial_number = slave->sii.serial_number;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   194
                data.alias = slave->sii.alias;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   195
                data.state = slave->current_state;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   196
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   197
                data.sync_count = slave->sii.sync_count;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   198
                data.sdo_count = ec_slave_sdo_count(slave);
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   199
                data.sii_nwords = slave->sii_nwords;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   200
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   201
                if (slave->sii.name) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   202
                    strncpy(data.name, slave->sii.name,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   203
                            EC_IOCTL_SLAVE_NAME_SIZE);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   204
                    data.name[EC_IOCTL_SLAVE_NAME_SIZE - 1] = 0;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   205
                } else {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   206
                    data.name[0] = 0;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   207
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   208
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   209
                if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   210
                    retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   211
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   212
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   213
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   214
                break;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   215
            }
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   216
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   217
        case EC_IOCTL_SYNC:
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   218
            {
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   219
                ec_ioctl_sync_t data;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   220
                const ec_slave_t *slave;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   221
                const ec_sync_t *sync;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   222
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   223
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   224
                    retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   225
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   226
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   227
                
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   228
                if (!(slave = ec_master_find_slave(
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   229
                                master, 0, data.slave_position))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   230
                    EC_ERR("Slave %u does not exist!\n", data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   231
                    retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   232
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   233
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   234
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   235
                if (data.sync_index >= slave->sii.sync_count) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   236
                    EC_ERR("Sync manager %u does not exist in slave %u!\n",
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   237
                            data.sync_index, data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   238
                    retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   239
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   240
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   241
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   242
                sync = &slave->sii.syncs[data.sync_index];
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   243
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   244
                data.physical_start_address = sync->physical_start_address;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   245
                data.default_size = sync->length;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   246
                data.control_register = sync->control_register;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   247
                data.enable = sync->enable;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   248
                data.assign_source = sync->assign_source;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   249
                data.pdo_count = ec_pdo_list_count(&sync->pdos);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   250
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   251
                if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   252
                    retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   253
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   254
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   255
                break;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   256
            }
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   257
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   258
        case EC_IOCTL_PDO:
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   259
            {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   260
                ec_ioctl_pdo_t data;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   261
                const ec_slave_t *slave;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   262
                const ec_sync_t *sync;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   263
                const ec_pdo_t *pdo;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   264
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   265
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   266
                    retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   267
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   268
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   269
                
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   270
                if (!(slave = ec_master_find_slave(
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   271
                                master, 0, data.slave_position))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   272
                    EC_ERR("Slave %u does not exist!\n", data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   273
                    retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   274
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   275
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   276
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   277
                if (data.sync_index >= slave->sii.sync_count) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   278
                    EC_ERR("Sync manager %u does not exist in slave %u!\n",
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   279
                            data.sync_index, data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   280
                    retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   281
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   282
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   283
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   284
                sync = &slave->sii.syncs[data.sync_index];
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   285
                if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   286
                                &sync->pdos, data.pdo_pos))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   287
                    EC_ERR("Sync manager %u does not contain a Pdo with "
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   288
                            "position %u in slave %u!\n", data.sync_index,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   289
                            data.pdo_pos, data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   290
                    retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   291
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   292
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   293
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   294
                data.dir = pdo->dir;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   295
                data.index = pdo->index;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   296
                data.entry_count = ec_pdo_entry_count(pdo);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   297
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   298
                if (pdo->name) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   299
                    strncpy(data.name, pdo->name, EC_IOCTL_PDO_NAME_SIZE);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   300
                    data.name[EC_IOCTL_PDO_NAME_SIZE - 1] = 0;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   301
                } else {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   302
                    data.name[0] = 0;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   303
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   304
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   305
                if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   306
                    retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   307
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   308
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   309
                break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   310
            }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   311
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   312
        case EC_IOCTL_PDO_ENTRY:
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   313
            {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   314
                ec_ioctl_pdo_entry_t data;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   315
                const ec_slave_t *slave;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   316
                const ec_sync_t *sync;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   317
                const ec_pdo_t *pdo;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   318
                const ec_pdo_entry_t *entry;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   319
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   320
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   321
                    retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   322
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   323
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   324
                
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   325
                if (!(slave = ec_master_find_slave(
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   326
                                master, 0, data.slave_position))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   327
                    EC_ERR("Slave %u does not exist!\n", data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   328
                    retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   329
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   330
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   331
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   332
                if (data.sync_index >= slave->sii.sync_count) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   333
                    EC_ERR("Sync manager %u does not exist in slave %u!\n",
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   334
                            data.sync_index, data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   335
                    retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   336
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   337
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   338
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   339
                sync = &slave->sii.syncs[data.sync_index];
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   340
                if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   341
                                &sync->pdos, data.pdo_pos))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   342
                    EC_ERR("Sync manager %u does not contain a Pdo with "
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   343
                            "position %u in slave %u!\n", data.sync_index,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   344
                            data.pdo_pos, data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   345
                    retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   346
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   347
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   348
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   349
                if (!(entry = ec_pdo_find_entry_by_pos_const(
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   350
                                pdo, data.entry_pos))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   351
                    EC_ERR("Pdo 0x%04X does not contain an entry with "
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   352
                            "position %u in slave %u!\n", data.pdo_pos,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   353
                            data.entry_pos, data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   354
                    retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   355
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   356
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   357
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   358
                data.index = entry->index;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   359
                data.subindex = entry->subindex;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   360
                data.bit_length = entry->bit_length;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   361
                if (entry->name) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   362
                    strncpy(data.name, entry->name,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   363
                            EC_IOCTL_PDO_ENTRY_NAME_SIZE);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   364
                    data.name[EC_IOCTL_PDO_ENTRY_NAME_SIZE - 1] = 0;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   365
                } else {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   366
                    data.name[0] = 0;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   367
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   368
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   369
                if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   370
                    retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   371
                    break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   372
                }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   373
                break;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   374
            }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   375
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   376
        case EC_IOCTL_DOMAIN_COUNT:
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   377
            retval = ec_master_domain_count(master);
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   378
            break;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   379
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   380
        case EC_IOCTL_DOMAIN:
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   381
            {
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   382
                ec_ioctl_domain_t data;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   383
                const ec_domain_t *domain;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   384
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   385
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   386
                    retval = -EFAULT;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   387
                    break;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   388
                }
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   389
                
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   390
                if (!(domain = ec_master_find_domain(master, data.index))) {
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   391
                    EC_ERR("Domain %u does not exist!\n", data.index);
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   392
                    retval = -EINVAL;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   393
                    break;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   394
                }
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   395
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   396
                data.data_size = domain->data_size;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   397
                data.logical_base_address = domain->logical_base_address;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   398
                data.working_counter = domain->working_counter;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   399
                data.expected_working_counter = domain->expected_working_counter;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   400
                data.fmmu_count = ec_domain_fmmu_count(domain);
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   401
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   402
                if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   403
                    retval = -EFAULT;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   404
                    break;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   405
                }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   406
                break;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   407
            }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   408
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   409
        case EC_IOCTL_DOMAIN_FMMU:
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   410
            {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   411
                ec_ioctl_domain_fmmu_t data;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   412
                const ec_domain_t *domain;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   413
                const ec_fmmu_config_t *fmmu;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   414
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   415
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   416
                    retval = -EFAULT;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   417
                    break;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   418
                }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   419
                
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   420
                if (!(domain = ec_master_find_domain(master, data.domain_index))) {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   421
                    EC_ERR("Domain %u does not exist!\n", data.domain_index);
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   422
                    retval = -EINVAL;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   423
                    break;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   424
                }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   425
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   426
                if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   427
                    EC_ERR("Domain %u has less than %u fmmu configurations.\n",
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   428
                            data.domain_index, data.fmmu_index + 1);
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   429
                    retval = -EINVAL;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   430
                    break;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   431
                }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   432
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   433
                data.slave_config_alias = fmmu->sc->alias;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   434
                data.slave_config_position = fmmu->sc->position;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   435
                data.fmmu_dir = fmmu->dir;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   436
                data.logical_address = fmmu->logical_start_address;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
   437
                data.data_size = fmmu->data_size;
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   438
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   439
                if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   440
                    retval = -EFAULT;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   441
                    break;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   442
                }
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   443
                break;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   444
            }
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   445
949
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   446
        case EC_IOCTL_DATA:
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   447
            {
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   448
                ec_ioctl_data_t data;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   449
                const ec_domain_t *domain;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   450
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   451
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   452
                    retval = -EFAULT;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   453
                    break;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   454
                }
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   455
                
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   456
                if (!(domain = ec_master_find_domain(master, data.domain_index))) {
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   457
                    EC_ERR("Domain %u does not exist!\n", data.domain_index);
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   458
                    retval = -EINVAL;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   459
                    break;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   460
                }
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   461
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   462
                if (domain->data_size != data.data_size) {
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   463
                    EC_ERR("Data size mismatch %u/%u!\n",
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   464
                            data.data_size, domain->data_size);
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   465
                    retval = -EFAULT;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   466
                    break;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   467
                }
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   468
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   469
                if (copy_to_user((void __user *) data.target, domain->data,
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   470
                            domain->data_size)) {
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   471
                    retval = -EFAULT;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   472
                    break;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   473
                }
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   474
                break;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   475
            }
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   476
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   477
        case EC_IOCTL_SET_DEBUG:
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
   478
            if (!(filp->f_mode & FMODE_WRITE))
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
   479
                return -EPERM;
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   480
            if (ec_master_debug_level(master, (unsigned int) arg)) {
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   481
                retval = -EINVAL;
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   482
            }
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   483
            break;
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
   484
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   485
        case EC_IOCTL_SLAVE_STATE:
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   486
            {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   487
                ec_ioctl_slave_state_t data;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   488
                ec_slave_t *slave;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   489
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
   490
                if (!(filp->f_mode & FMODE_WRITE))
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
   491
                    return -EPERM;
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
   492
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   493
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   494
                    retval = -EFAULT;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   495
                    break;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   496
                }
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   497
                
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   498
                if (!(slave = ec_master_find_slave(
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   499
                                master, 0, data.slave_position))) {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   500
                    EC_ERR("Slave %u does not exist!\n", data.slave_position);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   501
                    retval = -EINVAL;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   502
                    break;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   503
                }
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   504
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   505
                ec_slave_request_state(slave, data.requested_state);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   506
                break;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   507
            }
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   508
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   509
        case EC_IOCTL_SDO:
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   510
            {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   511
                ec_ioctl_sdo_t data;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   512
                const ec_slave_t *slave;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   513
                const ec_sdo_t *sdo;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   514
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   515
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   516
                    retval = -EFAULT;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   517
                    break;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   518
                }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   519
                
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   520
                if (!(slave = ec_master_find_slave(
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   521
                                master, 0, data.slave_position))) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   522
                    EC_ERR("Slave %u does not exist!\n", data.slave_position);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   523
                    retval = -EINVAL;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   524
                    break;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   525
                }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   526
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   527
                if (!(sdo = ec_slave_get_sdo_by_pos_const(
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   528
                                slave, data.sdo_position))) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   529
                    EC_ERR("Sdo %u does not exist in slave %u!\n",
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   530
                            data.sdo_position, data.slave_position);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   531
                    retval = -EINVAL;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   532
                    break;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   533
                }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   534
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   535
                data.sdo_index = sdo->index;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   536
                data.max_subindex = sdo->max_subindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   537
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   538
                if (sdo->name) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   539
                    strncpy(data.name, sdo->name, EC_IOCTL_SDO_NAME_SIZE);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   540
                    data.name[EC_IOCTL_SDO_NAME_SIZE - 1] = 0;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   541
                } else {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   542
                    data.name[0] = 0;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   543
                }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   544
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   545
                if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   546
                    retval = -EFAULT;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   547
                    break;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   548
                }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   549
                break;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   550
            }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   551
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   552
        case EC_IOCTL_SDO_ENTRY:
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   553
            {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   554
                ec_ioctl_sdo_entry_t data;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   555
                const ec_slave_t *slave;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   556
                const ec_sdo_t *sdo;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   557
                const ec_sdo_entry_t *entry;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   558
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   559
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   560
                    retval = -EFAULT;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   561
                    break;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   562
                }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   563
                
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   564
                if (!(slave = ec_master_find_slave(
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   565
                                master, 0, data.slave_position))) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   566
                    EC_ERR("Slave %u does not exist!\n", data.slave_position);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   567
                    retval = -EINVAL;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   568
                    break;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   569
                }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   570
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   571
                if (data.sdo_spec <= 0) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   572
                    if (!(sdo = ec_slave_get_sdo_by_pos_const(
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   573
                                    slave, -data.sdo_spec))) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   574
                        EC_ERR("Sdo %u does not exist in slave %u!\n",
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   575
                                -data.sdo_spec, data.slave_position);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   576
                        retval = -EINVAL;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   577
                        break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   578
                    }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   579
                } else {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   580
                    if (!(sdo = ec_slave_get_sdo_const(
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   581
                                    slave, data.sdo_spec))) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   582
                        EC_ERR("Sdo 0x%04X does not exist in slave %u!\n",
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   583
                                data.sdo_spec, data.slave_position);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   584
                        retval = -EINVAL;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   585
                        break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   586
                    }
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   587
                }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   588
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   589
                if (!(entry = ec_sdo_get_entry_const(
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   590
                                sdo, data.sdo_entry_subindex))) {
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   591
                    EC_ERR("Sdo entry 0x%04X:%02X does not exist "
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   592
                            "in slave %u!\n", sdo->index,
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   593
                            data.sdo_entry_subindex, data.slave_position);
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   594
                    retval = -EINVAL;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   595
                    break;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   596
                }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   597
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   598
                data.data_type = entry->data_type;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   599
                data.bit_length = entry->bit_length;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   600
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   601
                if (entry->description) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   602
                    strncpy(data.description, entry->description,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   603
                            EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   604
                    data.description[EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE - 1]
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   605
                        = 0;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   606
                } else {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   607
                    data.description[0] = 0;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   608
                }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   609
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   610
                if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   611
                    retval = -EFAULT;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   612
                    break;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   613
                }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   614
                break;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   615
            }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   616
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   617
        case EC_IOCTL_SDO_UPLOAD:
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   618
            {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   619
                ec_ioctl_sdo_upload_t data;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   620
                ec_master_sdo_request_t request;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   621
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   622
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   623
                    retval = -EFAULT;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   624
                    break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   625
                }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   626
                
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   627
                if (!(request.slave = ec_master_find_slave(
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   628
                                master, 0, data.slave_position))) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   629
                    EC_ERR("Slave %u does not exist!\n", data.slave_position);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   630
                    retval = -EINVAL;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   631
                    break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   632
                }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   633
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   634
                ec_sdo_request_init(&request.req);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   635
                ec_sdo_request_address(&request.req,
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   636
                        data.sdo_index, data.sdo_entry_subindex);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   637
                ecrt_sdo_request_read(&request.req);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   638
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   639
                // schedule request.
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   640
                down(&master->sdo_sem);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   641
                list_add_tail(&request.list, &master->slave_sdo_requests);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   642
                up(&master->sdo_sem);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   643
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   644
                // wait for processing through FSM
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   645
                if (wait_event_interruptible(master->sdo_queue,
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   646
                            request.req.state != EC_REQUEST_QUEUED)) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   647
                    // interrupted by signal
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   648
                    down(&master->sdo_sem);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   649
                    if (request.req.state == EC_REQUEST_QUEUED) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   650
                        list_del(&request.req.list);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   651
                        up(&master->sdo_sem);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   652
                        retval = -EINTR;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   653
                        break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   654
                    }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   655
                    // request already processing: interrupt not possible.
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   656
                    up(&master->sdo_sem);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   657
                }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   658
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   659
                // wait until master FSM has finished processing
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   660
                wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   661
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   662
                if (request.req.state != EC_REQUEST_SUCCESS) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   663
                    retval = -EIO;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   664
                    break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   665
                }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   666
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   667
                if (request.req.data_size > data.target_size) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   668
                    EC_ERR("Buffer too small.\n");
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   669
                    retval = -EOVERFLOW;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   670
                    break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   671
                }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   672
                data.data_size = request.req.data_size;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   673
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   674
                if (copy_to_user((void __user *) data.target,
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   675
                            request.req.data, data.data_size)) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   676
                    retval = -EFAULT;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   677
                    break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   678
                }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   679
                if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   680
                    retval = -EFAULT;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   681
                    break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   682
                }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   683
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   684
                ec_sdo_request_clear(&request.req);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   685
                break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   686
            }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   687
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   688
        case EC_IOCTL_SDO_DOWNLOAD:
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   689
            {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   690
                ec_ioctl_sdo_download_t data;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   691
                ec_master_sdo_request_t request;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   692
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   693
                if (!(filp->f_mode & FMODE_WRITE))
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   694
                    return -EPERM;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   695
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   696
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   697
                    retval = -EFAULT;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   698
                    break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   699
                }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   700
                
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   701
                if (!(request.slave = ec_master_find_slave(
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   702
                                master, 0, data.slave_position))) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   703
                    EC_ERR("Slave %u does not exist!\n", data.slave_position);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   704
                    retval = -EINVAL;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   705
                    break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   706
                }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   707
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   708
                // copy data to download
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   709
                if (!data.data_size) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   710
                    EC_ERR("Zero data size!\n");
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   711
                    retval = -EINVAL;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   712
                    break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   713
                }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   714
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   715
                ec_sdo_request_init(&request.req);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   716
                ec_sdo_request_address(&request.req,
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   717
                        data.sdo_index, data.sdo_entry_subindex);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   718
                if (ec_sdo_request_alloc(&request.req, data.data_size)) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   719
                    ec_sdo_request_clear(&request.req);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   720
                    retval = -ENOMEM;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   721
                    break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   722
                }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   723
                if (copy_from_user(request.req.data,
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   724
                            (void __user *) data.data, data.data_size)) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   725
                    ec_sdo_request_clear(&request.req);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   726
                    retval = -EFAULT;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   727
                    break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   728
                }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   729
                request.req.data_size = data.data_size;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   730
                ecrt_sdo_request_write(&request.req);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   731
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   732
                // schedule request.
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   733
                down(&master->sdo_sem);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   734
                list_add_tail(&request.list, &master->slave_sdo_requests);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   735
                up(&master->sdo_sem);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   736
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   737
                // wait for processing through FSM
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   738
                if (wait_event_interruptible(master->sdo_queue,
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   739
                            request.req.state != EC_REQUEST_QUEUED)) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   740
                    // interrupted by signal
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   741
                    down(&master->sdo_sem);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   742
                    if (request.req.state == EC_REQUEST_QUEUED) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   743
                        list_del(&request.req.list);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   744
                        up(&master->sdo_sem);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   745
                        retval = -EINTR;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   746
                        break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   747
                    }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   748
                    // request already processing: interrupt not possible.
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   749
                    up(&master->sdo_sem);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   750
                }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   751
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   752
                // wait until master FSM has finished processing
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   753
                wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   754
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   755
                if (request.req.state != EC_REQUEST_SUCCESS) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   756
                    retval = -EIO;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   757
                    break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   758
                }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   759
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   760
                ec_sdo_request_clear(&request.req);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   761
                break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   762
            }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   763
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   764
        case EC_IOCTL_SII_READ:
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   765
            {
980
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   766
                ec_ioctl_sii_t data;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   767
                const ec_slave_t *slave;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   768
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   769
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   770
                    retval = -EFAULT;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   771
                    break;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   772
                }
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   773
                
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   774
                if (!(slave = ec_master_find_slave(
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   775
                                master, 0, data.slave_position))) {
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   776
                    EC_ERR("Slave %u does not exist!\n", data.slave_position);
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   777
                    retval = -EINVAL;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   778
                    break;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   779
                }
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   780
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   781
                if (!data.nwords
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   782
                        || data.offset + data.nwords > slave->sii_nwords) {
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   783
                    EC_ERR("Invalid SII read offset/size %u/%u for slave "
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   784
                            "SII size %u!\n", data.offset,
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   785
                            data.nwords, slave->sii_nwords);
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   786
                    retval = -EINVAL;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   787
                    break;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   788
                }
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   789
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   790
                if (copy_to_user((void __user *) data.words,
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   791
                            slave->sii_words + data.offset, data.nwords * 2)) {
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   792
                    retval = -EFAULT;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   793
                    break;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   794
                }
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   795
                break;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   796
            }
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 974
diff changeset
   797
980
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   798
        case EC_IOCTL_SII_WRITE:
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   799
            {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   800
                ec_ioctl_sii_t data;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   801
                ec_slave_t *slave;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   802
                unsigned int byte_size;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   803
                uint16_t *words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   804
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   805
                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   806
                    retval = -EFAULT;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   807
                    break;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   808
                }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   809
                
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   810
                if (!(slave = ec_master_find_slave(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   811
                                master, 0, data.slave_position))) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   812
                    EC_ERR("Slave %u does not exist!\n", data.slave_position);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   813
                    retval = -EINVAL;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   814
                    break;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   815
                }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   816
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   817
                if (!data.nwords)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   818
                    break;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   819
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   820
                byte_size = sizeof(uint16_t) * data.nwords;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   821
                if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   822
                    EC_ERR("Failed to allocate %u bytes for SII contents.\n",
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   823
                            byte_size);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   824
                    retval = -ENOMEM;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   825
                    break;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   826
                }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   827
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   828
                if (copy_from_user(words,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   829
                            (void __user *) data.words, byte_size)) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   830
                    retval = -EFAULT;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   831
                    kfree(words);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   832
                    break;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   833
                }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   834
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   835
                if (ec_slave_write_sii(slave,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   836
                            data.offset, data.nwords, words)) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   837
                    retval = -EIO;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   838
                    kfree(words);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   839
                    break;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   840
                }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   841
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   842
                kfree(words);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   843
                break;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   844
            }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   845
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   846
        default:
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
   847
            retval = -ENOTTY;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   848
    }
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   849
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   850
    return retval;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   851
}
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   852
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   853
/*****************************************************************************/