master/cdev.c
author Florian Pose <fp@igh-essen.com>
Thu, 09 Jul 2009 14:08:16 +0000
changeset 1493 9e6d8f78acd0
parent 1489 f77a1182b6f4
child 1500 ed1a733efbc5
permissions -rw-r--r--
Increased default buffer size for SDO uploads to 64k.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master character device.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/vmalloc.h>
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#include <linux/mm.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 "voe_handler.h"
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#include "ethernet.h"
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#include "ioctl.h"
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/** Set to 1 to enable ioctl() command debugging.
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 */
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#define DEBUG_IOCTL 0
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/*****************************************************************************/
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static int eccdev_open(struct inode *, struct file *);
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static int eccdev_release(struct inode *, struct file *);
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static long eccdev_ioctl(struct file *, unsigned int, unsigned long);
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static int eccdev_mmap(struct file *, struct vm_area_struct *);
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/** This is the kernel version from which the .fault member of the
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 * vm_operations_struct is usable.
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 */
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#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)
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#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION
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static int eccdev_vma_fault(struct vm_area_struct *, struct vm_fault *);
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#else
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static struct page *eccdev_vma_nopage(
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        struct vm_area_struct *, unsigned long, int *);
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#endif
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/*****************************************************************************/
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/** File operation callbacks for the EtherCAT character device.
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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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    .mmap           = eccdev_mmap
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};
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/** Callbacks for a virtual memory area retrieved with ecdevc_mmap().
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 */
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struct vm_operations_struct eccdev_vm_ops = {
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#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION
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    .fault = eccdev_vma_fault
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#else
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    .nopage = eccdev_vma_nopage
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#endif
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};
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/*****************************************************************************/
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/** Private data structure for file handles.
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 */
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typedef struct {
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    ec_cdev_t *cdev; /**< Character device. */
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    unsigned int requested; /**< Master wac requested via this file handle. */
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    uint8_t *process_data; /**< Total process data area. */
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    size_t process_data_size; /**< Size of the \a process_data. */
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} ec_cdev_priv_t;
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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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    int ret;
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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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    ret = cdev_add(&cdev->cdev,
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		 MKDEV(MAJOR(dev_num), master->index), 1);
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    if (ret) {
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		EC_ERR("Failed to add character device!\n");
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    }
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    return ret;
922
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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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/** Copies a string to an ioctl structure.
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   144
 */
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void ec_cdev_strcpy(
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        char *target, /**< Target. */
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        const char *source /**< Source. */
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        )
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{
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    if (source) {
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        strncpy(target, source, EC_IOCTL_STRING_SIZE);
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        target[EC_IOCTL_STRING_SIZE - 1] = 0;
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   153
    } else {
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        target[0] = 0;
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   155
    }
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   156
}
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/*****************************************************************************/
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/** Get master information.
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 */
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int ec_cdev_ioctl_master(
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        ec_master_t *master, /**< EtherCAT master. */
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        unsigned long arg /**< Userspace address to store the results. */
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        )
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{
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    ec_ioctl_master_t data;
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    if (down_interruptible(&master->master_sem))
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        return -EINTR;
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    data.slave_count = master->slave_count;
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    data.config_count = ec_master_config_count(master);
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    data.domain_count = ec_master_domain_count(master);
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5ddc3a455059 ethercat eoe command.
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    data.eoe_handler_count = ec_master_eoe_handler_count(master);
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    data.phase = (uint8_t) master->phase;
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    data.scan_busy = master->scan_busy;
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    up(&master->master_sem);
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    if (down_interruptible(&master->device_sem))
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        return -EINTR;
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    if (master->main_device.dev) {
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        memcpy(data.devices[0].address,
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                master->main_device.dev->dev_addr, ETH_ALEN);
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   185
    } else {
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        memcpy(data.devices[0].address, master->main_mac, ETH_ALEN); 
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    }
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    data.devices[0].attached = master->main_device.dev ? 1 : 0;
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    data.devices[0].link_state = master->main_device.link_state ? 1 : 0;
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    data.devices[0].tx_count = master->main_device.tx_count;
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    data.devices[0].rx_count = master->main_device.rx_count;
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    if (master->backup_device.dev) {
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        memcpy(data.devices[1].address,
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                master->backup_device.dev->dev_addr, ETH_ALEN); 
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   196
    } else {
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        memcpy(data.devices[1].address, master->backup_mac, ETH_ALEN); 
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   198
    }
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    data.devices[1].attached = master->backup_device.dev ? 1 : 0;
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    data.devices[1].link_state = master->backup_device.link_state ? 1 : 0;
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    data.devices[1].tx_count = master->backup_device.tx_count;
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    data.devices[1].rx_count = master->backup_device.rx_count;
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   203
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    up(&master->device_sem);
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   205
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    data.app_time = master->app_time;
1435
f1df39224f49 Take ref clock address from dc_ref_clock pointer.
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    data.ref_clock =
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   208
        master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff;
1415
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   209
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    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
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        return -EFAULT;
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   212
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   213
    return 0;
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   214
}
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   215
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   216
/*****************************************************************************/
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   217
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/** Get slave information.
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   219
 */
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   220
int ec_cdev_ioctl_slave(
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   221
        ec_master_t *master, /**< EtherCAT master. */
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   222
        unsigned long arg /**< Userspace address to store the results. */
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   223
        )
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   224
{
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    ec_ioctl_slave_t data;
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   226
    const ec_slave_t *slave;
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cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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   227
    int i;
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   228
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   229
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
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   230
        return -EFAULT;
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diff changeset
   231
    }
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   232
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acc6430bfb32 Use down_interruptible() wherever possible.
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   233
    if (down_interruptible(&master->master_sem))
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   234
        return -EINTR;
1079
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   235
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   236
    if (!(slave = ec_master_find_slave_const(
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   237
                    master, 0, data.position))) {
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   238
        up(&master->master_sem);
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   239
        EC_ERR("Slave %u does not exist!\n", data.position);
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   240
        return -EINVAL;
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   241
    }
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   242
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   243
    data.vendor_id = slave->sii.vendor_id;
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   244
    data.product_code = slave->sii.product_code;
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   245
    data.revision_number = slave->sii.revision_number;
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   246
    data.serial_number = slave->sii.serial_number;
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   247
    data.alias = slave->sii.alias;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   248
    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;
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   249
    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;
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   250
    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;
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   251
    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;
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   252
    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;
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   253
    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   254
    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;
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diff changeset
   255
    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;
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   256
    data.mailbox_protocols = slave->sii.mailbox_protocols;
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   257
    data.has_general_category = slave->sii.has_general;
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   258
    data.coe_details = slave->sii.coe_details;
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   259
    data.general_flags = slave->sii.general_flags;
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   260
    data.current_on_ebus = slave->sii.current_on_ebus;
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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   261
    for (i = 0; i < EC_MAX_PORTS; i++) {
1425
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   262
        data.ports[i].desc = slave->ports[i].desc;
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   263
        data.ports[i].link.link_up = slave->ports[i].link.link_up;
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   264
        data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed;
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   265
        data.ports[i].link.signal_detected = slave->ports[i].link.signal_detected;
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   266
        data.ports[i].receive_time = slave->ports[i].receive_time;
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   267
        if (slave->ports[i].next_slave) {
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   268
            data.ports[i].next_slave = slave->ports[i].next_slave->ring_position;
1421
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diff changeset
   269
        } else {
1425
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   270
            data.ports[i].next_slave = 0xffff;
1421
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   271
        }
1425
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   272
        data.ports[i].delay_to_next_dc = slave->ports[i].delay_to_next_dc;
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   273
    }
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   274
    data.fmmu_bit = slave->base_fmmu_bit_operation;
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    data.dc_supported = slave->base_dc_supported;
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   276
    data.dc_range = slave->base_dc_range;
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
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   277
    data.has_dc_system_time = slave->has_dc_system_time;
1426
af45bba80d85 Transition->Transmission.
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   278
    data.transmission_delay = slave->transmission_delay;
1148
1762296870bd Renamed state field to al_state.
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    data.al_state = slave->current_state;
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    data.error_flag = slave->error_flag;
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   281
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   282
    data.sync_count = slave->sii.sync_count;
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   283
    data.sdo_count = ec_slave_sdo_count(slave);
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   284
    data.sii_nwords = slave->sii_nwords;
1109
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
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   285
    ec_cdev_strcpy(data.group, slave->sii.group);
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   286
    ec_cdev_strcpy(data.image, slave->sii.image);
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   287
    ec_cdev_strcpy(data.order, slave->sii.order);
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
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   288
    ec_cdev_strcpy(data.name, slave->sii.name);
1079
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   289
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   290
    up(&master->master_sem);
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   291
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   292
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
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   293
        return -EFAULT;
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   294
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   295
    return 0;
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   296
}
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   297
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   298
/*****************************************************************************/
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   299
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/** Get slave sync manager information.
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   301
 */
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   302
int ec_cdev_ioctl_slave_sync(
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   303
        ec_master_t *master, /**< EtherCAT master. */
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   304
        unsigned long arg /**< Userspace address to store the results. */
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   305
        )
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   306
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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   307
    ec_ioctl_slave_sync_t data;
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   308
    const ec_slave_t *slave;
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   309
    const ec_sync_t *sync;
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   310
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   311
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
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   312
        return -EFAULT;
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   313
    }
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   314
1189
acc6430bfb32 Use down_interruptible() wherever possible.
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   315
    if (down_interruptible(&master->master_sem))
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   316
        return -EINTR;
1079
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   317
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   318
    if (!(slave = ec_master_find_slave_const(
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   319
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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   320
        up(&master->master_sem);
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   321
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
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   322
        return -EINVAL;
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   323
    }
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   324
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   325
    if (data.sync_index >= slave->sii.sync_count) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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   326
        up(&master->master_sem);
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   327
        EC_ERR("Sync manager %u does not exist in slave %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   328
                data.sync_index, data.slave_position);
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   329
        return -EINVAL;
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diff changeset
   330
    }
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   331
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   332
    sync = &slave->sii.syncs[data.sync_index];
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   333
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   334
    data.physical_start_address = sync->physical_start_address;
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diff changeset
   335
    data.default_size = sync->default_length;
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diff changeset
   336
    data.control_register = sync->control_register;
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diff changeset
   337
    data.enable = sync->enable;
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diff changeset
   338
    data.pdo_count = ec_pdo_list_count(&sync->pdos);
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diff changeset
   339
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   340
    up(&master->master_sem);
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diff changeset
   341
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diff changeset
   342
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
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   343
        return -EFAULT;
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   344
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   345
    return 0;
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diff changeset
   346
}
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   347
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   348
/*****************************************************************************/
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   349
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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   350
/** Get slave sync manager PDO information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   351
 */
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diff changeset
   352
int ec_cdev_ioctl_slave_sync_pdo(
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diff changeset
   353
        ec_master_t *master, /**< EtherCAT master. */
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diff changeset
   354
        unsigned long arg /**< Userspace address to store the results. */
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   355
        )
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   356
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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   357
    ec_ioctl_slave_sync_pdo_t data;
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diff changeset
   358
    const ec_slave_t *slave;
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   359
    const ec_sync_t *sync;
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   360
    const ec_pdo_t *pdo;
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diff changeset
   361
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diff changeset
   362
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
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diff changeset
   363
        return -EFAULT;
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diff changeset
   364
    }
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diff changeset
   365
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
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diff changeset
   366
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
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diff changeset
   367
        return -EINTR;
1079
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diff changeset
   368
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diff changeset
   369
    if (!(slave = ec_master_find_slave_const(
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diff changeset
   370
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   371
        up(&master->master_sem);
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diff changeset
   372
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
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diff changeset
   373
        return -EINVAL;
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diff changeset
   374
    }
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   375
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diff changeset
   376
    if (data.sync_index >= slave->sii.sync_count) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   377
        up(&master->master_sem);
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diff changeset
   378
        EC_ERR("Sync manager %u does not exist in slave %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   379
                data.sync_index, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   380
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   381
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   382
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   383
    sync = &slave->sii.syncs[data.sync_index];
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   384
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   385
                    &sync->pdos, data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   386
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   387
        EC_ERR("Sync manager %u does not contain a PDO with "
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   388
                "position %u in slave %u!\n", data.sync_index,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   389
                data.pdo_pos, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   390
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   391
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   392
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   393
    data.index = pdo->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   394
    data.entry_count = ec_pdo_entry_count(pdo);
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   395
    ec_cdev_strcpy(data.name, pdo->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   396
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   397
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   398
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   399
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   400
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   401
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   402
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   403
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   404
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   405
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   406
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   407
/** Get slave sync manager PDO entry information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   408
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   409
int ec_cdev_ioctl_slave_sync_pdo_entry(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   410
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   411
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   412
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   413
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   414
    ec_ioctl_slave_sync_pdo_entry_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   415
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   416
    const ec_sync_t *sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   417
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   418
    const ec_pdo_entry_t *entry;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   419
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   420
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   421
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   422
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   423
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   424
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   425
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   426
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   427
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   428
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   429
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   430
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   431
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   432
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   433
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   434
    if (data.sync_index >= slave->sii.sync_count) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   435
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   436
        EC_ERR("Sync manager %u does not exist in slave %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   437
                data.sync_index, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   438
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   439
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   440
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   441
    sync = &slave->sii.syncs[data.sync_index];
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   442
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   443
                    &sync->pdos, data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   444
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   445
        EC_ERR("Sync manager %u does not contain a PDO with "
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   446
                "position %u in slave %u!\n", data.sync_index,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   447
                data.pdo_pos, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   448
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   449
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   450
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   451
    if (!(entry = ec_pdo_find_entry_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   452
                    pdo, data.entry_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   453
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   454
        EC_ERR("PDO 0x%04X does not contain an entry with "
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   455
                "position %u in slave %u!\n", data.pdo_pos,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   456
                data.entry_pos, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   457
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   458
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   459
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   460
    data.index = entry->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   461
    data.subindex = entry->subindex;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   462
    data.bit_length = entry->bit_length;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   463
    ec_cdev_strcpy(data.name, entry->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   464
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   465
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   466
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   467
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   468
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   469
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   470
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   471
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   472
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   473
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   474
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   475
/** Get domain information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   476
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   477
int ec_cdev_ioctl_domain(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   478
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   479
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   480
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   481
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   482
    ec_ioctl_domain_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   483
    const ec_domain_t *domain;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   484
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   485
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   486
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   487
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   488
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   489
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   490
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   491
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   492
    if (!(domain = ec_master_find_domain_const(master, data.index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   493
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   494
        EC_ERR("Domain %u does not exist!\n", data.index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   495
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   496
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   497
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   498
    data.data_size = domain->data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   499
    data.logical_base_address = domain->logical_base_address;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   500
    data.working_counter = domain->working_counter;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   501
    data.expected_working_counter = domain->expected_working_counter;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   502
    data.fmmu_count = ec_domain_fmmu_count(domain);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   503
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   504
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   505
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   506
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   507
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   508
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   509
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   510
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   511
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   512
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   513
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   514
/** Get domain FMMU information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   515
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   516
int ec_cdev_ioctl_domain_fmmu(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   517
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   518
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   519
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   520
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   521
    ec_ioctl_domain_fmmu_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   522
    const ec_domain_t *domain;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   523
    const ec_fmmu_config_t *fmmu;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   524
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   525
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   526
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   527
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   528
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   529
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   530
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   531
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   532
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   533
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   534
        EC_ERR("Domain %u does not exist!\n", data.domain_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   535
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   536
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   537
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   538
    if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   539
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   540
        EC_ERR("Domain %u has less than %u fmmu configurations.\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   541
                data.domain_index, data.fmmu_index + 1);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   542
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   543
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   544
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   545
    data.slave_config_alias = fmmu->sc->alias;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   546
    data.slave_config_position = fmmu->sc->position;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   547
    data.sync_index = fmmu->sync_index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   548
    data.dir = fmmu->dir;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   549
    data.logical_address = fmmu->logical_start_address;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   550
    data.data_size = fmmu->data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   551
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   552
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   553
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   554
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   555
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   556
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   557
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   558
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   559
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   560
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   561
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   562
/** Get domain data.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   563
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   564
int ec_cdev_ioctl_domain_data(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   565
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   566
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   567
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   568
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   569
    ec_ioctl_domain_data_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   570
    const ec_domain_t *domain;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   571
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   572
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   573
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   574
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   575
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   576
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   577
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   578
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   579
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   580
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   581
        EC_ERR("Domain %u does not exist!\n", data.domain_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   582
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   583
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   584
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   585
    if (domain->data_size != data.data_size) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   586
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   587
        EC_ERR("Data size mismatch %u/%u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   588
                data.data_size, domain->data_size);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   589
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   590
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   591
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   592
    if (copy_to_user((void __user *) data.target, domain->data,
1223
6d539205114e Added missing up().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   593
                domain->data_size)) {
6d539205114e Added missing up().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   594
        up(&master->master_sem);
6d539205114e Added missing up().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   595
        return -EFAULT;
6d539205114e Added missing up().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   596
    }
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   597
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   598
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   599
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   600
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   601
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   602
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   603
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   604
/** Set master debug level.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   605
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   606
int ec_cdev_ioctl_master_debug(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   607
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   608
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   609
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   610
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   611
    return ec_master_debug_level(master, (unsigned int) arg);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   612
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   613
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   614
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   615
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   616
/** Set slave state.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   617
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   618
int ec_cdev_ioctl_slave_state(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   619
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   620
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   621
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   622
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   623
    ec_ioctl_slave_state_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   624
    ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   625
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   626
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   627
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   628
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   629
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   630
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   631
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   632
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   633
    if (!(slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   634
                    master, 0, data.slave_position))) {
1196
a27966f01b72 Fixed missing up().
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   635
        up(&master->master_sem);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   636
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   637
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   638
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   639
1150
c589b54ade01 Fixed requested_state.
Florian Pose <fp@igh-essen.com>
parents: 1148
diff changeset
   640
    ec_slave_request_state(slave, data.al_state);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   641
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   642
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   643
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   644
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   645
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   646
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   647
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   648
/** Get slave SDO information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   649
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   650
int ec_cdev_ioctl_slave_sdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   651
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   652
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   653
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   654
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   655
    ec_ioctl_slave_sdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   656
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   657
    const ec_sdo_t *sdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   658
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   659
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   660
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   661
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   662
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   663
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   664
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   665
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   666
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   667
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   668
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   669
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   670
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   671
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   672
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   673
    if (!(sdo = ec_slave_get_sdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   674
                    slave, data.sdo_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   675
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   676
        EC_ERR("SDO %u does not exist in slave %u!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   677
                data.sdo_position, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   678
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   679
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   680
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   681
    data.sdo_index = sdo->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   682
    data.max_subindex = sdo->max_subindex;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   683
    ec_cdev_strcpy(data.name, sdo->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   684
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   685
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   686
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   687
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   688
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   689
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   690
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   691
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   692
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   693
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   694
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   695
/** Get slave SDO entry information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   696
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   697
int ec_cdev_ioctl_slave_sdo_entry(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   698
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   699
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   700
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   701
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   702
    ec_ioctl_slave_sdo_entry_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   703
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   704
    const ec_sdo_t *sdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   705
    const ec_sdo_entry_t *entry;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   706
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   707
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   708
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   709
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   710
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   711
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   712
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   713
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   714
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   715
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   716
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   717
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   718
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   719
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   720
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   721
    if (data.sdo_spec <= 0) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   722
        if (!(sdo = ec_slave_get_sdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   723
                        slave, -data.sdo_spec))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   724
            up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   725
            EC_ERR("SDO %u does not exist in slave %u!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   726
                    -data.sdo_spec, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   727
            return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   728
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   729
    } else {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   730
        if (!(sdo = ec_slave_get_sdo_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   731
                        slave, data.sdo_spec))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   732
            up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   733
            EC_ERR("SDO 0x%04X does not exist in slave %u!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   734
                    data.sdo_spec, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   735
            return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   736
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   737
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   738
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   739
    if (!(entry = ec_sdo_get_entry_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   740
                    sdo, data.sdo_entry_subindex))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   741
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   742
        EC_ERR("SDO entry 0x%04X:%02X does not exist "
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   743
                "in slave %u!\n", sdo->index,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   744
                data.sdo_entry_subindex, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   745
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   746
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   747
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   748
    data.data_type = entry->data_type;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   749
    data.bit_length = entry->bit_length;
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   750
    data.read_access[EC_SDO_ENTRY_ACCESS_PREOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   751
        entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   752
    data.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   753
        entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   754
    data.read_access[EC_SDO_ENTRY_ACCESS_OP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   755
        entry->read_access[EC_SDO_ENTRY_ACCESS_OP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   756
    data.write_access[EC_SDO_ENTRY_ACCESS_PREOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   757
        entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   758
    data.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   759
        entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   760
    data.write_access[EC_SDO_ENTRY_ACCESS_OP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   761
        entry->write_access[EC_SDO_ENTRY_ACCESS_OP];
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   762
    ec_cdev_strcpy(data.description, entry->description);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   763
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   764
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   765
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   766
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   767
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   768
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   769
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   770
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   771
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   772
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   773
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   774
/** Upload SDO.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   775
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   776
int ec_cdev_ioctl_slave_sdo_upload(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   777
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   778
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   779
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   780
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   781
    ec_ioctl_slave_sdo_upload_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   782
    ec_master_sdo_request_t request;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   783
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   784
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   785
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   786
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   787
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   788
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   789
    ec_sdo_request_init(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   790
    ec_sdo_request_address(&request.req,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   791
            data.sdo_index, data.sdo_entry_subindex);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   792
    ecrt_sdo_request_read(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   793
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   794
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   795
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   796
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   797
    if (!(request.slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   798
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   799
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   800
        ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   801
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   802
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   803
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   804
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   805
    // schedule request.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   806
    list_add_tail(&request.list, &master->slave_sdo_requests);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   807
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   808
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   809
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   810
    // wait for processing through FSM
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   811
    if (wait_event_interruptible(master->sdo_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   812
                request.req.state != EC_INT_REQUEST_QUEUED)) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   813
        // interrupted by signal
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   814
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   815
        if (request.req.state == EC_INT_REQUEST_QUEUED) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   816
            list_del(&request.req.list);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   817
            up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   818
            ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   819
            return -EINTR;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   820
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   821
        // request already processing: interrupt not possible.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   822
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   823
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   824
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   825
    // wait until master FSM has finished processing
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   826
    wait_event(master->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   827
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   828
    data.abort_code = request.req.abort_code;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   829
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   830
    if (request.req.state != EC_INT_REQUEST_SUCCESS) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   831
        data.data_size = 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   832
        retval = -EIO;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   833
    } else {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   834
        if (request.req.data_size > data.target_size) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   835
            EC_ERR("Buffer too small.\n");
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   836
            ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   837
            return -EOVERFLOW;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   838
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   839
        data.data_size = request.req.data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   840
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   841
        if (copy_to_user((void __user *) data.target,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   842
                    request.req.data, data.data_size)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   843
            ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   844
            return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   845
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   846
        retval = 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   847
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   848
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   849
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   850
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   851
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   852
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   853
    ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   854
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   855
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   856
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   857
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   858
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   859
/** Download SDO.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   860
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   861
int ec_cdev_ioctl_slave_sdo_download(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   862
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   863
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   864
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   865
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   866
    ec_ioctl_slave_sdo_download_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   867
    ec_master_sdo_request_t request;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   868
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   869
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   870
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   871
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   872
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   873
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   874
    // copy data to download
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   875
    if (!data.data_size) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   876
        EC_ERR("Zero data size!\n");
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   877
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   878
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   879
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   880
    ec_sdo_request_init(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   881
    ec_sdo_request_address(&request.req,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   882
            data.sdo_index, data.sdo_entry_subindex);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   883
    if (ec_sdo_request_alloc(&request.req, data.data_size)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   884
        ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   885
        return -ENOMEM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   886
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   887
    if (copy_from_user(request.req.data,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   888
                (void __user *) data.data, data.data_size)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   889
        ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   890
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   891
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   892
    request.req.data_size = data.data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   893
    ecrt_sdo_request_write(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   894
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   895
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   896
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   897
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   898
    if (!(request.slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   899
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   900
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   901
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   902
        ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   903
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   904
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   905
    
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   906
    // schedule request.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   907
    list_add_tail(&request.list, &master->slave_sdo_requests);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   908
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   909
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   910
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   911
    // wait for processing through FSM
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   912
    if (wait_event_interruptible(master->sdo_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   913
                request.req.state != EC_INT_REQUEST_QUEUED)) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   914
        // interrupted by signal
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   915
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   916
        if (request.req.state == EC_INT_REQUEST_QUEUED) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   917
            list_del(&request.req.list);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   918
            up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   919
            ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   920
            return -EINTR;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   921
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   922
        // request already processing: interrupt not possible.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   923
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   924
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   925
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   926
    // wait until master FSM has finished processing
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   927
    wait_event(master->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   928
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   929
    data.abort_code = request.req.abort_code;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   930
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   931
    retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   932
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   933
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   934
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   935
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   936
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   937
    ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   938
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   939
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   940
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   941
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   942
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   943
/** Read a slave's SII.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   944
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   945
int ec_cdev_ioctl_slave_sii_read(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   946
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   947
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   948
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   949
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   950
    ec_ioctl_slave_sii_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   951
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   952
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   953
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   954
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   955
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   956
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   957
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   958
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   959
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   960
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   961
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   962
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   963
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   964
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   965
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   966
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   967
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   968
    if (!data.nwords
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   969
            || data.offset + data.nwords > slave->sii_nwords) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   970
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   971
        EC_ERR("Invalid SII read offset/size %u/%u for slave "
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   972
                "SII size %u!\n", data.offset,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   973
                data.nwords, slave->sii_nwords);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   974
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   975
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   976
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   977
    if (copy_to_user((void __user *) data.words,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   978
                slave->sii_words + data.offset, data.nwords * 2))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   979
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   980
    else
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   981
        retval = 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   982
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   983
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   984
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   985
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   986
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   987
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   988
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   989
/** Write a slave's SII.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   990
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   991
int ec_cdev_ioctl_slave_sii_write(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   992
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   993
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   994
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   995
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   996
    ec_ioctl_slave_sii_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   997
    ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   998
    unsigned int byte_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   999
    uint16_t *words;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1000
    ec_sii_write_request_t request;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1001
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1002
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1003
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1004
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1005
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1006
    if (!data.nwords)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1007
        return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1008
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1009
    byte_size = sizeof(uint16_t) * data.nwords;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1010
    if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1011
        EC_ERR("Failed to allocate %u bytes for SII contents.\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1012
                byte_size);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1013
        return -ENOMEM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1014
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1015
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1016
    if (copy_from_user(words,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1017
                (void __user *) data.words, byte_size)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1018
        kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1019
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1020
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1021
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1022
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1023
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1024
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1025
    if (!(slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1026
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1027
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1028
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1029
        kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1030
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1031
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1032
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1033
    // init SII write request
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1034
    INIT_LIST_HEAD(&request.list);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1035
    request.slave = slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1036
    request.words = words;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1037
    request.offset = data.offset;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1038
    request.nwords = data.nwords;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1039
    request.state = EC_INT_REQUEST_QUEUED;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1040
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1041
    // schedule SII write request.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1042
    list_add_tail(&request.list, &master->sii_requests);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1043
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1044
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1045
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1046
    // wait for processing through FSM
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1047
    if (wait_event_interruptible(master->sii_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1048
                request.state != EC_INT_REQUEST_QUEUED)) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1049
        // interrupted by signal
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1050
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1051
        if (request.state == EC_INT_REQUEST_QUEUED) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1052
            // abort request
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1053
            list_del(&request.list);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1054
            up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1055
            kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1056
            return -EINTR;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1057
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1058
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1059
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1060
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1061
    // wait until master FSM has finished processing
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1062
    wait_event(master->sii_queue, request.state != EC_INT_REQUEST_BUSY);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1063
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1064
    kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1065
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1066
    return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1067
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1068
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1069
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1070
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1071
/** Read a slave's registers.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1072
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1073
int ec_cdev_ioctl_slave_reg_read(
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1074
        ec_master_t *master, /**< EtherCAT master. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1075
        unsigned long arg /**< ioctl() argument. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1076
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1077
{
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1078
    ec_ioctl_slave_reg_t data;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1079
    ec_slave_t *slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1080
    uint8_t *contents;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1081
    ec_reg_request_t request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1082
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1083
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1084
        return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1085
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1086
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1087
    if (!data.length)
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1088
        return 0;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1089
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1090
    if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1091
        EC_ERR("Failed to allocate %u bytes for register data.\n", data.length);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1092
        return -ENOMEM;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1093
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1094
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1095
    if (down_interruptible(&master->master_sem))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1096
        return -EINTR;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1097
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1098
    if (!(slave = ec_master_find_slave(
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1099
                    master, 0, data.slave_position))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1100
        up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1101
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1102
        return -EINVAL;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1103
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1104
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1105
    // init register request
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1106
    INIT_LIST_HEAD(&request.list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1107
    request.slave = slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1108
    request.dir = EC_DIR_INPUT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1109
    request.data = contents;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1110
    request.offset = data.offset;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1111
    request.length = data.length;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1112
    request.state = EC_INT_REQUEST_QUEUED;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1113
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1114
    // schedule request.
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1115
    list_add_tail(&request.list, &master->reg_requests);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1116
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1117
    up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1118
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1119
    // wait for processing through FSM
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1120
    if (wait_event_interruptible(master->reg_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1121
                request.state != EC_INT_REQUEST_QUEUED)) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1122
        // interrupted by signal
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1123
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1124
        if (request.state == EC_INT_REQUEST_QUEUED) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1125
            // abort request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1126
            list_del(&request.list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1127
            up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1128
            kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1129
            return -EINTR;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1130
        }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1131
        up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1132
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1133
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1134
    // wait until master FSM has finished processing
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1135
    wait_event(master->reg_queue, request.state != EC_INT_REQUEST_BUSY);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1136
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1137
    if (request.state == EC_INT_REQUEST_SUCCESS) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1138
        if (copy_to_user((void __user *) data.data, contents, data.length))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1139
            return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1140
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1141
    kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1142
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1143
    return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1144
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1145
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1146
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1147
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1148
/** Write a slave's registers.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1149
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1150
int ec_cdev_ioctl_slave_reg_write(
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1151
        ec_master_t *master, /**< EtherCAT master. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1152
        unsigned long arg /**< ioctl() argument. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1153
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1154
{
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1155
    ec_ioctl_slave_reg_t data;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1156
    ec_slave_t *slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1157
    uint8_t *contents;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1158
    ec_reg_request_t request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1159
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1160
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1161
        return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1162
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1163
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1164
    if (!data.length)
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1165
        return 0;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1166
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1167
    if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1168
        EC_ERR("Failed to allocate %u bytes for register data.\n", data.length);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1169
        return -ENOMEM;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1170
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1171
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1172
    if (copy_from_user(contents, (void __user *) data.data, data.length)) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1173
        kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1174
        return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1175
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1176
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1177
    if (down_interruptible(&master->master_sem))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1178
        return -EINTR;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1179
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1180
    if (!(slave = ec_master_find_slave(
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1181
                    master, 0, data.slave_position))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1182
        up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1183
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1184
        kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1185
        return -EINVAL;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1186
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1187
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1188
    // init register request
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1189
    INIT_LIST_HEAD(&request.list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1190
    request.slave = slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1191
    request.dir = EC_DIR_OUTPUT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1192
    request.data = contents;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1193
    request.offset = data.offset;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1194
    request.length = data.length;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1195
    request.state = EC_INT_REQUEST_QUEUED;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1196
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1197
    // schedule request.
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1198
    list_add_tail(&request.list, &master->reg_requests);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1199
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1200
    up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1201
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1202
    // wait for processing through FSM
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1203
    if (wait_event_interruptible(master->reg_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1204
                request.state != EC_INT_REQUEST_QUEUED)) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1205
        // interrupted by signal
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1206
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1207
        if (request.state == EC_INT_REQUEST_QUEUED) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1208
            // abort request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1209
            list_del(&request.list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1210
            up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1211
            kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1212
            return -EINTR;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1213
        }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1214
        up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1215
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1216
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1217
    // wait until master FSM has finished processing
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1218
    wait_event(master->reg_queue, request.state != EC_INT_REQUEST_BUSY);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1219
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1220
    kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1221
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1222
    return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1223
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1224
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1225
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1226
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1227
/** Get slave configuration information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1228
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1229
int ec_cdev_ioctl_config(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1230
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1231
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1232
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1233
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1234
    ec_ioctl_config_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1235
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1236
    uint8_t i;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1237
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1238
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1239
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1240
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1241
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1242
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1243
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1244
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1245
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1246
                    master, data.config_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1247
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1248
        EC_ERR("Slave config %u does not exist!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1249
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1250
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1251
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1252
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1253
    data.alias = sc->alias;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1254
    data.position = sc->position;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1255
    data.vendor_id = sc->vendor_id;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1256
    data.product_code = sc->product_code;
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1257
    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1258
        data.syncs[i].dir = sc->sync_configs[i].dir;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1259
        data.syncs[i].pdo_count =
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1260
            ec_pdo_list_count(&sc->sync_configs[i].pdos);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1261
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1262
    data.sdo_count = ec_slave_config_sdo_count(sc);
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1109
diff changeset
  1263
    data.slave_position = sc->slave ? sc->slave->ring_position : -1;
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1264
    data.dc_assign_activate = sc->dc_assign_activate;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1265
    for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1266
        data.dc_sync[i] = sc->dc_sync[i];
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1267
    }
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1268
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1269
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1270
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1271
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1272
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1273
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1274
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1275
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1276
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1277
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1278
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1279
/** Get slave configuration PDO information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1280
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1281
int ec_cdev_ioctl_config_pdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1282
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1283
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1284
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1285
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1286
    ec_ioctl_config_pdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1287
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1288
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1289
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1290
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1291
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1292
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1293
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1294
    if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1295
        EC_ERR("Invalid sync manager index %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1296
                data.sync_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1297
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1298
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1299
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1300
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1301
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1302
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1303
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1304
                    master, data.config_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1305
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1306
        EC_ERR("Slave config %u does not exist!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1307
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1308
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1309
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1310
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1311
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1312
                    &sc->sync_configs[data.sync_index].pdos,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1313
                    data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1314
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1315
        EC_ERR("Invalid PDO position!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1316
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1317
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1318
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1319
    data.index = pdo->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1320
    data.entry_count = ec_pdo_entry_count(pdo);
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
  1321
    ec_cdev_strcpy(data.name, pdo->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1322
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1323
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1324
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1325
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1326
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1327
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1328
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1329
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1330
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1331
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1332
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1333
/** Get slave configuration PDO entry information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1334
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1335
int ec_cdev_ioctl_config_pdo_entry(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1336
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1337
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1338
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1339
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1340
    ec_ioctl_config_pdo_entry_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1341
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1342
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1343
    const ec_pdo_entry_t *entry;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1344
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1345
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1346
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1347
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1348
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1349
    if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1350
        EC_ERR("Invalid sync manager index %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1351
                data.sync_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1352
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1353
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1354
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1355
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1356
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1357
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1358
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1359
                    master, data.config_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1360
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1361
        EC_ERR("Slave config %u does not exist!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1362
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1363
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1364
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1365
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1366
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1367
                    &sc->sync_configs[data.sync_index].pdos,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1368
                    data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1369
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1370
        EC_ERR("Invalid PDO position!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1371
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1372
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1373
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1374
    if (!(entry = ec_pdo_find_entry_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1375
                    pdo, data.entry_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1376
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1377
        EC_ERR("Entry not found!\n");
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1378
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1379
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1380
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1381
    data.index = entry->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1382
    data.subindex = entry->subindex;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1383
    data.bit_length = entry->bit_length;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
  1384
    ec_cdev_strcpy(data.name, entry->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1385
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1386
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1387
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1388
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1389
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1390
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1391
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1392
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1393
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1394
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1395
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1396
/** Get slave configuration SDO information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1397
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1398
int ec_cdev_ioctl_config_sdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1399
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1400
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1401
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1402
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1403
    ec_ioctl_config_sdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1404
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1405
    const ec_sdo_request_t *req;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1406
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1407
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1408
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1409
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1410
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1411
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1412
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1413
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1414
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1415
                    master, data.config_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1416
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1417
        EC_ERR("Slave config %u does not exist!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1418
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1419
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1420
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1421
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1422
    if (!(req = ec_slave_config_get_sdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1423
                    sc, data.sdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1424
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1425
        EC_ERR("Invalid SDO position!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1426
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1427
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1428
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1429
    data.index = req->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1430
    data.subindex = req->subindex;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1431
    data.size = req->data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1432
    memcpy(&data.data, req->data, min((u32) data.size, (u32) 4));
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1433
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1434
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1435
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1436
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1437
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1438
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1439
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1440
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1441
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1442
/*****************************************************************************/
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1443
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1444
/** Get EoE handler information.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1445
 */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1446
int ec_cdev_ioctl_eoe_handler(
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1447
        ec_master_t *master, /**< EtherCAT master. */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1448
        unsigned long arg /**< ioctl() argument. */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1449
        )
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1450
{
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1451
    ec_ioctl_eoe_handler_t data;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1452
	const ec_eoe_t *eoe;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1453
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1454
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1455
        return -EFAULT;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1456
    }
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1457
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1458
    if (down_interruptible(&master->master_sem))
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1459
        return -EINTR;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1460
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1461
    if (!(eoe = ec_master_get_eoe_handler_const(master, data.eoe_index))) {
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1462
        up(&master->master_sem);
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1463
        EC_ERR("EoE handler %u does not exist!\n", data.eoe_index);
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1464
        return -EINVAL;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1465
    }
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1466
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1467
	if (eoe->slave) {
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1468
		data.slave_position = eoe->slave->ring_position;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1469
	} else {
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1470
		data.slave_position = 0xffff;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1471
	}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1472
	snprintf(data.name, EC_DATAGRAM_NAME_SIZE, eoe->dev->name);
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1473
    data.open = eoe->opened;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1474
    data.rx_bytes = eoe->stats.tx_bytes;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1475
    data.rx_rate = eoe->tx_rate;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1476
    data.tx_bytes = eoe->stats.rx_bytes;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1477
    data.tx_rate = eoe->tx_rate;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1478
    data.tx_queued_frames = eoe->tx_queued_frames;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1479
    data.tx_queue_size = eoe->tx_queue_size;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1480
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1481
    up(&master->master_sem);
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1482
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1483
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1484
        return -EFAULT;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1486
    return 0;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1487
}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1488
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1489
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1490
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1491
/** Request the master from userspace.
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1492
 */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1493
int ec_cdev_ioctl_request(
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1494
        ec_master_t *master, /**< EtherCAT master. */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1495
        unsigned long arg, /**< ioctl() argument. */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1496
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1497
        )
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1498
{
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1499
	ec_master_t *m;
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1500
    int ret = 0;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1501
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1502
    m = ecrt_request_master_err(master->index);
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1503
    if (IS_ERR(m)) {
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1504
        ret = PTR_ERR(m);
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1505
    } else {
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1506
        priv->requested = 1;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1507
    }
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1508
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1509
    return ret;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1510
}
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1511
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1512
/*****************************************************************************/
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1513
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1514
/** Create a domain.
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1515
 */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1516
int ec_cdev_ioctl_create_domain(
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1517
        ec_master_t *master, /**< EtherCAT master. */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1518
        unsigned long arg, /**< ioctl() argument. */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1519
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1520
        )
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1521
{
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1522
    ec_domain_t *domain;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1523
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1524
	if (unlikely(!priv->requested))
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1525
		return -EPERM;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1526
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1527
    domain = ecrt_master_create_domain_err(master);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1528
    if (IS_ERR(domain))
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1529
        return PTR_ERR(domain);
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1530
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1531
    return domain->index;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1532
}
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1533
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1534
/*****************************************************************************/
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1535
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1536
/** Create a slave configuration.
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1537
 */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1538
int ec_cdev_ioctl_create_slave_config(
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1539
        ec_master_t *master, /**< EtherCAT master. */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1540
        unsigned long arg, /**< ioctl() argument. */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1541
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1542
        )
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1543
{
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1544
    ec_ioctl_config_t data;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1545
    ec_slave_config_t *sc, *entry;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1546
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1547
	if (unlikely(!priv->requested))
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1548
		return -EPERM;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1549
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1550
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1551
        return -EFAULT;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1552
    }
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1553
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1554
    sc = ecrt_master_slave_config_err(master, data.alias, data.position,
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1555
            data.vendor_id, data.product_code);
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1556
    if (IS_ERR(sc))
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1557
        return PTR_ERR(sc);
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1558
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1559
    data.config_index = 0;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1560
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1561
    if (down_interruptible(&master->master_sem))
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1562
        return -EINTR;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1563
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1564
    list_for_each_entry(entry, &master->configs, list) {
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1565
        if (entry == sc)
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1566
            break;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1567
        data.config_index++;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1568
    }
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1569
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1570
    up(&master->master_sem);
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1571
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1572
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1573
        return -EFAULT;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1574
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1575
    return 0;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1576
}
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1577
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1578
/*****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1579
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1580
/** Activates the master.
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1581
 */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1582
int ec_cdev_ioctl_activate(
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1583
        ec_master_t *master, /**< EtherCAT master. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1584
        unsigned long arg, /**< ioctl() argument. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1585
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1586
        )
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1587
{
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1588
    ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1589
    off_t offset;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1590
    int ret;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1591
    
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1592
	if (unlikely(!priv->requested))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1593
		return -EPERM;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1594
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1595
    /* Get the sum of the domains' process data sizes. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1596
    
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1597
    priv->process_data_size = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1598
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1599
    if (down_interruptible(&master->master_sem))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1600
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1601
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1602
    list_for_each_entry(domain, &master->domains, list) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1603
        priv->process_data_size += ecrt_domain_size(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1604
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1605
    
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1606
    up(&master->master_sem);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1607
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1608
    if (priv->process_data_size) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1609
        priv->process_data = vmalloc(priv->process_data_size);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1610
        if (!priv->process_data) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1611
            priv->process_data_size = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1612
            return -ENOMEM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1613
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1614
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1615
        /* Set the memory as external process data memory for the domains. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1616
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1617
        offset = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1618
        list_for_each_entry(domain, &master->domains, list) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1619
            ecrt_domain_external_memory(domain, priv->process_data + offset);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1620
            offset += ecrt_domain_size(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1621
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1622
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1623
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1624
    ret = ecrt_master_activate(master);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1625
    if (ret < 0)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1626
        return ret;
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1627
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1628
    if (copy_to_user((void __user *) arg,
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1629
                &priv->process_data_size, sizeof(size_t)))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1630
        return -EFAULT;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1631
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1632
    return 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1633
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1634
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1635
/*****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1636
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1637
/** Send frames.
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1638
 */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1639
int ec_cdev_ioctl_send(
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1640
        ec_master_t *master, /**< EtherCAT master. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1641
        unsigned long arg, /**< ioctl() argument. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1642
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1643
        )
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1644
{
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1645
	if (unlikely(!priv->requested))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1646
		return -EPERM;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1647
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1648
    down(&master->io_sem);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1649
    ecrt_master_send(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1650
    up(&master->io_sem);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1651
    return 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1652
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1653
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1654
/*****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1655
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1656
/** Receive frames.
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1657
 */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1658
int ec_cdev_ioctl_receive(
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1659
        ec_master_t *master, /**< EtherCAT master. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1660
        unsigned long arg, /**< ioctl() argument. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1661
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1662
        )
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1663
{
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1664
	if (unlikely(!priv->requested))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1665
		return -EPERM;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1666
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1667
    down(&master->io_sem);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1668
    ecrt_master_receive(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1669
    up(&master->io_sem);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1670
    return 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1671
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1672
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1673
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1674
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1675
/** Get the master state.
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1676
 */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1677
int ec_cdev_ioctl_master_state(
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1678
        ec_master_t *master, /**< EtherCAT master. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1679
        unsigned long arg, /**< ioctl() argument. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1680
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1681
        )
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1682
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1683
    ec_master_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1684
    
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1685
	if (unlikely(!priv->requested))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1686
		return -EPERM;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1687
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1688
    ecrt_master_state(master, &data);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1689
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1690
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1691
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1692
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1693
    return 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1694
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1695
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1696
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1697
1454
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1698
/** Get the master state.
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1699
 */
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1700
int ec_cdev_ioctl_app_time(
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1701
        ec_master_t *master, /**< EtherCAT master. */
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1702
        unsigned long arg, /**< ioctl() argument. */
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1703
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1704
        )
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1705
{
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1706
    ec_ioctl_app_time_t data;
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1707
    
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1708
	if (unlikely(!priv->requested))
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1709
		return -EPERM;
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1710
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1711
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1712
        return -EFAULT;
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1713
    }
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1714
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1715
    ecrt_master_application_time(master, data.app_time);
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1716
    return 0;
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1717
}
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1718
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1719
/*****************************************************************************/
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1720
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1721
/** Sync the reference clock.
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1722
 */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1723
int ec_cdev_ioctl_sync_ref(
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1724
        ec_master_t *master, /**< EtherCAT master. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1725
        unsigned long arg, /**< ioctl() argument. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1726
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1727
        )
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1728
{
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1729
	if (unlikely(!priv->requested))
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1730
		return -EPERM;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1731
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1732
    down(&master->io_sem);
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  1733
    ecrt_master_sync_reference_clock(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1734
    up(&master->io_sem);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1735
    return 0;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1736
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1737
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1738
/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1739
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1740
/** Sync the slave clocks.
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1741
 */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1742
int ec_cdev_ioctl_sync_slaves(
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1743
        ec_master_t *master, /**< EtherCAT master. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1744
        unsigned long arg, /**< ioctl() argument. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1745
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1746
        )
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1747
{
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1748
	if (unlikely(!priv->requested))
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1749
		return -EPERM;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1750
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1751
    down(&master->io_sem);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1752
    ecrt_master_sync_slave_clocks(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1753
    up(&master->io_sem);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1754
    return 0;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1755
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1756
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1757
/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1758
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1759
/** Set the direction of a sync manager.
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1760
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1761
int ec_cdev_ioctl_sc_sync(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1762
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1763
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1764
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1765
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1766
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1767
    ec_ioctl_config_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1768
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1769
    unsigned int i;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1770
    int ret = 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1771
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1772
	if (unlikely(!priv->requested)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1773
        ret = -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1774
        goto out_return;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1775
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1776
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1777
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1778
        ret = -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1779
        goto out_return;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1780
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1781
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1782
    if (down_interruptible(&master->master_sem)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1783
        ret = -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1784
        goto out_return;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1785
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1786
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1787
    if (!(sc = ec_master_get_config(master, data.config_index))) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1788
        ret = -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1789
        goto out_up;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1790
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1791
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1792
    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1793
        ec_direction_t dir = data.syncs[i].dir;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1794
        if (dir == EC_DIR_INPUT || dir == EC_DIR_OUTPUT) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1795
            if (ecrt_slave_config_sync_manager(sc, i, dir)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1796
                ret = -EINVAL;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1797
                goto out_up;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1798
            }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1799
        }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1800
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1801
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1802
out_up:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1803
    up(&master->master_sem);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1804
out_return:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1805
    return ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1806
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1807
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1808
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1809
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1810
/** Add a PDO to the assignment.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1811
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1812
int ec_cdev_ioctl_sc_add_pdo(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1813
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1814
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1815
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1816
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1817
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1818
    ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1819
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1820
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1821
	if (unlikely(!priv->requested))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1822
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1823
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1824
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1825
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1826
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1827
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1828
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1829
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1830
    if (!(sc = ec_master_get_config(master, data.config_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1831
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1832
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1833
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1834
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1835
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1836
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1837
    return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1838
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1839
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1840
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1841
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1842
/** Clears the PDO assignment.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1843
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1844
int ec_cdev_ioctl_sc_clear_pdos(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1845
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1846
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1847
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1848
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1849
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1850
    ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1851
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1852
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1853
	if (unlikely(!priv->requested))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1854
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1855
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1856
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1857
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1858
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1859
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1860
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1861
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1862
    if (!(sc = ec_master_get_config(master, data.config_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1863
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1864
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1865
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1866
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1867
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1868
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1869
    ecrt_slave_config_pdo_assign_clear(sc, data.sync_index);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1870
    return 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1871
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1872
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1873
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1874
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1875
/** Add an entry to a PDO's mapping.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1876
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1877
int ec_cdev_ioctl_sc_add_entry(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1878
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1879
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1880
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1881
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1882
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1883
    ec_ioctl_add_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1884
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1885
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1886
	if (unlikely(!priv->requested))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1887
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1888
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1889
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1890
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1891
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1892
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1893
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1894
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1895
    if (!(sc = ec_master_get_config(master, data.config_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1896
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1897
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1898
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1899
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1900
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1901
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1902
    return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1903
            data.entry_index, data.entry_subindex, data.entry_bit_length);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1904
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1905
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1906
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1907
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1908
/** Clears the mapping of a PDO.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1909
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1910
int ec_cdev_ioctl_sc_clear_entries(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1911
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1912
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1913
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1914
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1915
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1916
    ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1917
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1918
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1919
	if (unlikely(!priv->requested))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1920
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1921
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1922
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1923
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1924
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1925
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1926
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1927
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1928
    if (!(sc = ec_master_get_config(master, data.config_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1929
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1930
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1931
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1932
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1933
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1934
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1935
    ecrt_slave_config_pdo_mapping_clear(sc, data.index);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1936
    return 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1937
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1938
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1939
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1940
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1941
/** Registers a PDO entry.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1942
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1943
int ec_cdev_ioctl_sc_reg_pdo_entry(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1944
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1945
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1946
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1947
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1948
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1949
    ec_ioctl_reg_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1950
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1951
    ec_domain_t *domain;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1952
    int ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1953
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1954
	if (unlikely(!priv->requested))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1955
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1956
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1957
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1958
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1959
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1960
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1961
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1962
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1963
    if (!(sc = ec_master_get_config(master, data.config_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1964
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1965
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1966
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1967
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1968
    if (!(domain = ec_master_find_domain(master, data.domain_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1969
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1970
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1971
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1972
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1973
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1974
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1975
    ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1976
            data.entry_subindex, domain, &data.bit_position);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1977
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1978
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1979
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1980
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1981
    return ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1982
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1983
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1984
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1985
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  1986
/** Sets the DC AssignActivate word and the sync signal times.
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  1987
 */
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  1988
int ec_cdev_ioctl_sc_dc(
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1989
        ec_master_t *master, /**< EtherCAT master. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1990
        unsigned long arg, /**< ioctl() argument. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1991
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1992
        )
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1993
{
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1994
    ec_ioctl_config_t data;
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1995
    ec_slave_config_t *sc;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1996
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1997
	if (unlikely(!priv->requested))
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1998
        return -EPERM;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1999
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2000
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2001
        return -EFAULT;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2002
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2003
    if (down_interruptible(&master->master_sem))
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2004
        return -EINTR;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2005
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2006
    if (!(sc = ec_master_get_config(master, data.config_index))) {
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2007
        up(&master->master_sem);
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2008
        return -ENOENT;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2009
    }
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2010
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2011
    ecrt_slave_config_dc(sc, data.dc_assign_activate,
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2012
            data.dc_sync[0].cycle_time,
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2013
            data.dc_sync[0].shift_time,
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2014
            data.dc_sync[1].cycle_time,
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2015
            data.dc_sync[1].shift_time);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2016
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2017
    up(&master->master_sem);
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2018
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2019
    return 0;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2020
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2021
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2022
/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2023
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2024
/** Configures an SDO.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2025
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2026
int ec_cdev_ioctl_sc_sdo(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2027
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2028
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2029
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2030
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2031
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2032
    ec_ioctl_sc_sdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2033
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2034
    uint8_t *sdo_data = NULL;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2035
    int ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2036
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2037
	if (unlikely(!priv->requested))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2038
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2039
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2040
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2041
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2042
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2043
    if (!data.size)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2044
        return -EINVAL;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2045
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2046
    if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2047
        return -ENOMEM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2048
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2049
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2050
    if (copy_from_user(sdo_data, (void __user *) data.data, data.size)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2051
        kfree(sdo_data);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2052
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2053
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2054
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2055
    if (down_interruptible(&master->master_sem)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2056
        kfree(sdo_data);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2057
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2058
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2059
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2060
    if (!(sc = ec_master_get_config(master, data.config_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2061
        up(&master->master_sem);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2062
        kfree(sdo_data);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2063
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2064
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2065
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2066
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2067
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2068
    ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2069
            data.size);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2070
    kfree(sdo_data);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2071
    return ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2072
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2073
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2074
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2075
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2076
/** Create an SDO request.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2077
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2078
int ec_cdev_ioctl_sc_create_sdo_request(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2079
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2080
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2081
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2082
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2083
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2084
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2085
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2086
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2087
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2088
	if (unlikely(!priv->requested))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2089
		return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2090
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2091
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2092
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2093
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2094
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2095
    data.request_index = 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2096
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2097
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2098
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2099
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2100
    sc = ec_master_get_config(master, data.config_index);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2101
    if (!sc) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2102
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2103
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2104
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2105
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2106
    list_for_each_entry(req, &sc->sdo_requests, list) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2107
        data.request_index++;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2108
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2109
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2110
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2111
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2112
    req = ecrt_slave_config_create_sdo_request_err(sc, data.sdo_index,
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2113
            data.sdo_subindex, data.size);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2114
    if (IS_ERR(req))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2115
        return PTR_ERR(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2116
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2117
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2118
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2119
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2120
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2121
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2122
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2123
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2124
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2125
/** Create a VoE handler.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2126
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2127
int ec_cdev_ioctl_sc_create_voe_handler(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2128
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2129
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2130
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2131
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2132
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2133
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2134
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2135
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2136
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2137
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2138
		return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2139
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2140
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2141
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2142
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2143
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2144
    data.voe_index = 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2145
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2146
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2147
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2148
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2149
    sc = ec_master_get_config(master, data.config_index);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2150
    if (!sc) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2151
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2152
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2153
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2154
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2155
    list_for_each_entry(voe, &sc->voe_handlers, list) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2156
        data.voe_index++;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2157
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2158
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2159
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2160
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  2161
    voe = ecrt_slave_config_create_voe_handler_err(sc, data.size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  2162
    if (IS_ERR(voe))
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  2163
        return PTR_ERR(voe);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2164
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2165
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2166
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2167
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2168
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2169
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2170
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2171
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2172
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2173
/** Get the slave configuration's state.
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2174
 */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2175
int ec_cdev_ioctl_sc_state(
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2176
        ec_master_t *master, /**< EtherCAT master. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2177
        unsigned long arg, /**< ioctl() argument. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2178
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2179
        )
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2180
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2181
    ec_ioctl_sc_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2182
    const ec_slave_config_t *sc;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2183
    ec_slave_config_state_t state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2184
    
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2185
	if (unlikely(!priv->requested))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2186
		return -EPERM;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2187
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2188
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2189
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2190
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2191
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2192
    if (down_interruptible(&master->master_sem))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2193
        return -EINTR;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2194
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2195
    if (!(sc = ec_master_get_config_const(master, data.config_index))) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2196
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2197
        return -ENOENT;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2198
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2199
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2200
    ecrt_slave_config_state(sc, &state);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2201
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2202
    up(&master->master_sem);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2203
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2204
    if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2205
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2206
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2207
    return 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2208
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2209
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2210
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2211
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2212
/** Gets the domain's offset in the total process data.
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2213
 */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2214
int ec_cdev_ioctl_domain_offset(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2215
        ec_master_t *master, /**< EtherCAT master. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2216
        unsigned long arg, /**< ioctl() argument. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2217
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2218
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2219
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2220
    int offset = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2221
    const ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2222
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2223
	if (unlikely(!priv->requested))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2224
        return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2225
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2226
    if (down_interruptible(&master->master_sem)) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2227
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2228
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2229
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2230
    list_for_each_entry(domain, &master->domains, list) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2231
        if (domain->index == arg) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2232
            up(&master->master_sem);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2233
            return offset;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2234
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2235
        offset += ecrt_domain_size(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2236
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2237
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2238
    up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2239
    return -ENOENT;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2240
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2241
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2242
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2243
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2244
/** Process the domain.
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2245
 */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2246
int ec_cdev_ioctl_domain_process(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2247
        ec_master_t *master, /**< EtherCAT master. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2248
        unsigned long arg, /**< ioctl() argument. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2249
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2250
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2251
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2252
    ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2253
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2254
	if (unlikely(!priv->requested))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2255
        return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2256
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2257
    if (down_interruptible(&master->master_sem))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2258
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2259
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2260
    if (!(domain = ec_master_find_domain(master, arg))) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2261
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2262
        return -ENOENT;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2263
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2264
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2265
    ecrt_domain_process(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2266
    up(&master->master_sem);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2267
    return 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2268
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2269
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2270
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2271
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2272
/** Queue the domain.
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2273
 */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2274
int ec_cdev_ioctl_domain_queue(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2275
        ec_master_t *master, /**< EtherCAT master. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2276
        unsigned long arg, /**< ioctl() argument. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2277
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2278
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2279
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2280
    ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2281
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2282
	if (unlikely(!priv->requested))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2283
        return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2284
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2285
    if (down_interruptible(&master->master_sem))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2286
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2287
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2288
    if (!(domain = ec_master_find_domain(master, arg))) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2289
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2290
        return -ENOENT;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2291
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2292
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2293
    ecrt_domain_queue(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2294
    up(&master->master_sem);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2295
    return 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2296
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2297
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2298
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2299
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2300
/** Get the domain state.
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2301
 */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2302
int ec_cdev_ioctl_domain_state(
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2303
        ec_master_t *master, /**< EtherCAT master. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2304
        unsigned long arg, /**< ioctl() argument. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2305
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2306
        )
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2307
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2308
    ec_ioctl_domain_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2309
    const ec_domain_t *domain;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2310
    ec_domain_state_t state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2311
    
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2312
	if (unlikely(!priv->requested))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2313
		return -EPERM;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2314
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2315
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2316
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2317
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2318
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2319
    if (down_interruptible(&master->master_sem))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2320
        return -EINTR;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2321
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2322
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2323
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2324
        return -ENOENT;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2325
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2326
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2327
    ecrt_domain_state(domain, &state);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2328
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2329
    up(&master->master_sem);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2330
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2331
    if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2332
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2333
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2334
    return 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2335
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2336
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2337
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2338
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2339
/** Sets an SDO request's timeout.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2340
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2341
int ec_cdev_ioctl_sdo_request_timeout(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2342
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2343
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2344
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2345
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2346
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2347
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2348
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2349
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2350
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2351
	if (unlikely(!priv->requested))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2352
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2353
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2354
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2355
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2356
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2357
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2358
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2359
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2360
    if (!(sc = ec_master_get_config(master, data.config_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2361
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2362
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2363
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2364
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2365
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2366
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2367
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2368
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2369
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2370
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2371
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2372
    ecrt_sdo_request_timeout(req, data.timeout);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2373
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2374
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2375
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2376
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2377
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2378
/** Gets an SDO request's state.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2379
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2380
int ec_cdev_ioctl_sdo_request_state(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2381
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2382
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2383
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2384
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2385
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2386
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2387
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2388
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2389
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2390
	if (unlikely(!priv->requested))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2391
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2392
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2393
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2394
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2395
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2396
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2397
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2398
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2399
    if (!(sc = ec_master_get_config(master, data.config_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2400
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2401
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2402
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2403
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2404
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2405
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2406
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2407
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2408
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2409
    data.state = ecrt_sdo_request_state(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2410
    if (data.state == EC_REQUEST_SUCCESS && req->dir == EC_DIR_INPUT)
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2411
        data.size = ecrt_sdo_request_data_size(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2412
    else
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2413
        data.size = 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2414
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2415
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2416
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2417
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2418
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2419
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2420
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2421
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2422
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2423
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2424
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2425
/** Starts an SDO read operation.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2426
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2427
int ec_cdev_ioctl_sdo_request_read(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2428
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2429
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2430
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2431
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2432
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2433
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2434
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2435
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2436
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2437
	if (unlikely(!priv->requested))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2438
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2439
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2440
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2441
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2442
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2443
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2444
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2445
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2446
    if (!(sc = ec_master_get_config(master, data.config_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2447
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2448
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2449
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2450
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2451
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2452
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2453
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2454
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2455
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2456
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2457
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2458
    ecrt_sdo_request_read(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2459
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2460
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2461
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2462
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2463
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2464
/** Starts an SDO write operation.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2465
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2466
int ec_cdev_ioctl_sdo_request_write(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2467
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2468
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2469
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2470
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2471
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2472
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2473
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2474
    ec_sdo_request_t *req;
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2475
    int ret;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2476
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2477
	if (unlikely(!priv->requested))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2478
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2479
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2480
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2481
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2482
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2483
    if (!data.size) {
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2484
        EC_ERR("Sdo download: Data size may not be zero!\n");
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2485
        return -EINVAL;
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2486
    }
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2487
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2488
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2489
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2490
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2491
    if (!(sc = ec_master_get_config(master, data.config_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2492
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2493
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2494
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2495
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2496
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2497
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2498
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2499
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2500
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2501
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2502
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2503
    ret = ec_sdo_request_alloc(req, data.size);
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2504
    if (ret)
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2505
        return ret;
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2506
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2507
    if (copy_from_user(req->data, (void __user *) data.data, data.size))
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2508
        return -EFAULT;
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2509
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2510
    req->data_size = data.size;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2511
    ecrt_sdo_request_write(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2512
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2513
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2514
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2515
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2516
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2517
/** Read SDO data.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2518
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2519
int ec_cdev_ioctl_sdo_request_data(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2520
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2521
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2522
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2523
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2524
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2525
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2526
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2527
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2528
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2529
	if (unlikely(!priv->requested))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2530
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2531
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2532
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2533
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2534
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2535
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2536
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2537
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2538
    if (!(sc = ec_master_get_config(master, data.config_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2539
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2540
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2541
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2542
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2543
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2544
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2545
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2546
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2547
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2548
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2549
1362
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2550
    if (copy_to_user((void __user *) data.data, ecrt_sdo_request_data(req),
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2551
                ecrt_sdo_request_data_size(req)))
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2552
        return -EFAULT;
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2553
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2554
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2555
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2556
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2557
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2558
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2559
/** Sets the VoE send header.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2560
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2561
int ec_cdev_ioctl_voe_send_header(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2562
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2563
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2564
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2565
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2566
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2567
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2568
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2569
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2570
    uint32_t vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2571
    uint16_t vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2572
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2573
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2574
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2575
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2576
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2577
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2578
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2579
    if (get_user(vendor_id, data.vendor_id))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2580
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2581
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2582
    if (get_user(vendor_type, data.vendor_type))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2583
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2584
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2585
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2586
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2587
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2588
    if (!(sc = ec_master_get_config(master, data.config_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2589
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2590
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2591
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2592
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2593
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2594
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2595
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2596
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2597
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2598
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2599
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2600
    ecrt_voe_handler_send_header(voe, vendor_id, vendor_type);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2601
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2602
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2603
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2604
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2605
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2606
/** Gets the received VoE header.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2607
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2608
int ec_cdev_ioctl_voe_rec_header(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2609
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2610
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2611
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2612
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2613
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2614
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2615
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2616
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2617
    uint32_t vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2618
    uint16_t vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2619
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2620
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2621
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2622
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2623
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2624
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2625
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2626
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2627
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2628
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2629
    if (!(sc = ec_master_get_config(master, data.config_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2630
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2631
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2632
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2633
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2634
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2635
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2636
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2637
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2638
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2639
    ecrt_voe_handler_received_header(voe, &vendor_id, &vendor_type);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2640
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2641
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2642
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2643
    if (likely(data.vendor_id))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2644
        if (put_user(vendor_id, data.vendor_id))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2645
            return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2646
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2647
    if (likely(data.vendor_type))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2648
        if (put_user(vendor_type, data.vendor_type))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2649
            return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2650
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2651
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2652
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2653
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2654
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2655
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2656
/** Starts a VoE read operation.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2657
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2658
int ec_cdev_ioctl_voe_read(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2659
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2660
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2661
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2662
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2663
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2664
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2665
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2666
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2667
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2668
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2669
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2670
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2671
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2672
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2673
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2674
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2675
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2676
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2677
    if (!(sc = ec_master_get_config(master, data.config_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2678
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2679
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2680
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2681
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2682
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2683
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2684
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2685
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2686
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2687
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2688
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2689
    ecrt_voe_handler_read(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2690
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2691
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2692
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2693
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2694
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2695
/** Starts a VoE read operation without sending a sync message first.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2696
 */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2697
int ec_cdev_ioctl_voe_read_nosync(
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2698
        ec_master_t *master, /**< EtherCAT master. */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2699
        unsigned long arg, /**< ioctl() argument. */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2700
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2701
        )
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2702
{
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2703
    ec_ioctl_voe_t data;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2704
    ec_slave_config_t *sc;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2705
    ec_voe_handler_t *voe;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2706
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2707
	if (unlikely(!priv->requested))
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2708
        return -EPERM;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2709
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2710
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2711
        return -EFAULT;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2712
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2713
    if (down_interruptible(&master->master_sem))
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2714
        return -EINTR;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2715
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2716
    if (!(sc = ec_master_get_config(master, data.config_index))) {
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2717
        up(&master->master_sem);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2718
        return -ENOENT;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2719
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2720
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2721
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2722
        up(&master->master_sem);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2723
        return -ENOENT;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2724
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2725
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2726
    up(&master->master_sem);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2727
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2728
    ecrt_voe_handler_read_nosync(voe);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2729
    return 0;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2730
}
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2731
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2732
/*****************************************************************************/
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2733
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2734
/** Starts a VoE write operation.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2735
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2736
int ec_cdev_ioctl_voe_write(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2737
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2738
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2739
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2740
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2741
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2742
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2743
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2744
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2745
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2746
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2747
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2748
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2749
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2750
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2751
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2752
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2753
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2754
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2755
    if (!(sc = ec_master_get_config(master, data.config_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2756
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2757
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2758
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2759
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2760
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2761
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2762
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2763
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2764
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2765
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2766
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2767
    if (data.size) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2768
        if (data.size > ec_voe_handler_mem_size(voe))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2769
            return -EOVERFLOW;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2770
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2771
        if (copy_from_user(ecrt_voe_handler_data(voe),
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2772
                    (void __user *) data.data, data.size))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2773
            return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2774
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2775
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2776
    ecrt_voe_handler_write(voe, data.size);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2777
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2778
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2779
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2780
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2781
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2782
/** Executes the VoE state machine.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2783
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2784
int ec_cdev_ioctl_voe_exec(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2785
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2786
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2787
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2788
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2789
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2790
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2791
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2792
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2793
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2794
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2795
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2796
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2797
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2798
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2799
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2800
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2801
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2802
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2803
    if (!(sc = ec_master_get_config(master, data.config_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2804
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2805
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2806
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2807
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2808
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2809
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2810
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2811
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2812
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2813
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2814
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2815
    data.state = ecrt_voe_handler_execute(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2816
    if (data.state == EC_REQUEST_SUCCESS && voe->dir == EC_DIR_INPUT)
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2817
        data.size = ecrt_voe_handler_data_size(voe);
1350
cd278db5a872 Minor fix in VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1349
diff changeset
  2818
    else
cd278db5a872 Minor fix in VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1349
diff changeset
  2819
        data.size = 0;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2820
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2821
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2822
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2823
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2824
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2825
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2826
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2827
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2828
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2829
/** Reads the received VoE data.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2830
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2831
int ec_cdev_ioctl_voe_data(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2832
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2833
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2834
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2835
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2836
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2837
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2838
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2839
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2840
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2841
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2842
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2843
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2844
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2845
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2846
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2847
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2848
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2849
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2850
    if (!(sc = ec_master_get_config(master, data.config_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2851
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2852
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2853
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2854
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2855
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2856
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2857
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2858
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2859
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2860
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2861
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2862
    if (copy_to_user((void __user *) data.data, ecrt_voe_handler_data(voe),
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2863
                ecrt_voe_handler_data_size(voe)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2864
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2865
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2866
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2867
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2868
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2869
/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2870
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2871
/** Read a file from a slave via FoE.
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2872
 */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2873
int ec_cdev_ioctl_slave_foe_read(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2874
        ec_master_t *master, /**< EtherCAT master. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2875
        unsigned long arg /**< ioctl() argument. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2876
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2877
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2878
    ec_ioctl_slave_foe_t data;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2879
    ec_master_foe_request_t request;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2880
    int retval;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2881
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2882
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2883
        return -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2884
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2885
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2886
    ec_foe_request_init(&request.req, data.file_name);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2887
    ec_foe_request_read(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2888
    ec_foe_request_alloc(&request.req, 10000); // FIXME
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2889
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2890
    if (down_interruptible(&master->master_sem))
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2891
        return -EINTR;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2892
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2893
    if (!(request.slave = ec_master_find_slave(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2894
                    master, 0, data.slave_position))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2895
        up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2896
        ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2897
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2898
        return -EINVAL;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2899
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2900
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2901
    // schedule request.
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2902
    list_add_tail(&request.list, &master->foe_requests);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2903
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2904
    up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2905
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2906
    if (master->debug_level) {
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2907
        EC_DBG("Scheduled FoE read request on slave %u.\n",
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2908
                request.slave->ring_position);
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2909
    }
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2910
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2911
    // wait for processing through FSM
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2912
    if (wait_event_interruptible(master->foe_queue,
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2913
                request.req.state != EC_INT_REQUEST_QUEUED)) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2914
        // interrupted by signal
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2915
        down(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2916
        if (request.req.state == EC_INT_REQUEST_QUEUED) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2917
            list_del(&request.list);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2918
            up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2919
            ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2920
            return -EINTR;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2921
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2922
        // request already processing: interrupt not possible.
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2923
        up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2924
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2925
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2926
    // wait until master FSM has finished processing
1349
9baba3568df4 Fixed FoE request states.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
  2927
    wait_event(master->foe_queue, request.req.state != EC_INT_REQUEST_BUSY);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2928
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2929
    data.result = request.req.result;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2930
    data.error_code = request.req.error_code;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2931
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2932
	if (master->debug_level) {
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2933
		EC_DBG("Read %d bytes via FoE (result = 0x%x).\n",
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2934
				request.req.data_size, request.req.result);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2935
	}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2936
1349
9baba3568df4 Fixed FoE request states.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
  2937
    if (request.req.state != EC_INT_REQUEST_SUCCESS) {
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2938
        data.data_size = 0;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2939
        retval = -EIO;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2940
    } else {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2941
        if (request.req.data_size > data.buffer_size) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2942
            EC_ERR("Buffer too small.\n");
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2943
            ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2944
            return -EOVERFLOW;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2945
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2946
        data.data_size = request.req.data_size;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2947
        if (copy_to_user((void __user *) data.buffer,
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2948
                    request.req.buffer, data.data_size)) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2949
            ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2950
            return -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2951
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2952
        retval = 0;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2953
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2954
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2955
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2956
        retval = -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2957
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2958
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2959
    if (master->debug_level)
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2960
        EC_DBG("FoE read request finished on slave %u.\n",
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2961
                request.slave->ring_position);
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2962
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2963
    ec_foe_request_clear(&request.req);
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2964
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2965
    return retval;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2966
}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2967
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2968
/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2969
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2970
/** Write a file to a slave via FoE
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2971
 */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2972
int ec_cdev_ioctl_slave_foe_write(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2973
        ec_master_t *master, /**< EtherCAT master. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2974
        unsigned long arg /**< ioctl() argument. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2975
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2976
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2977
    ec_ioctl_slave_foe_t data;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2978
    ec_master_foe_request_t request;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2979
    int retval;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2980
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2981
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2982
        return -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2983
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2984
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2985
    INIT_LIST_HEAD(&request.list);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2986
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2987
    ec_foe_request_init(&request.req, data.file_name);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2988
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2989
    if (ec_foe_request_alloc(&request.req, data.buffer_size)) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2990
        ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2991
        return -ENOMEM;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2992
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2993
    if (copy_from_user(request.req.buffer,
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2994
                (void __user *) data.buffer, data.buffer_size)) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2995
        ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2996
        return -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2997
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2998
    request.req.data_size = data.buffer_size;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2999
    ec_foe_request_write(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3000
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3001
    if (down_interruptible(&master->master_sem))
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3002
        return -EINTR;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3003
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3004
    if (!(request.slave = ec_master_find_slave(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3005
                    master, 0, data.slave_position))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3006
        up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3007
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3008
        ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3009
        return -EINVAL;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3010
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3011
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3012
	if (master->debug_level) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3013
		EC_DBG("Scheduling FoE write request.\n");
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3014
	}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3015
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3016
    // schedule FoE write request.
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3017
    list_add_tail(&request.list, &master->foe_requests);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3018
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3019
    up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3020
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3021
    // wait for processing through FSM
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3022
    if (wait_event_interruptible(master->foe_queue,
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3023
                request.req.state != EC_INT_REQUEST_QUEUED)) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3024
        // interrupted by signal
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3025
        down(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3026
        if (request.req.state == EC_INT_REQUEST_QUEUED) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3027
            // abort request
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3028
            list_del(&request.list);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3029
            up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3030
            ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3031
            return -EINTR;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3032
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3033
        up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3034
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3035
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3036
    // wait until master FSM has finished processing
1349
9baba3568df4 Fixed FoE request states.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
  3037
    wait_event(master->foe_queue, request.req.state != EC_INT_REQUEST_BUSY);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3038
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  3039
    data.result = request.req.result;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  3040
    data.error_code = request.req.error_code;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3041
1349
9baba3568df4 Fixed FoE request states.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
  3042
    retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3043
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3044
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3045
        retval = -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3046
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3047
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3048
    ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3049
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3050
	if (master->debug_level) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3051
		printk ("Finished FoE writing.\n");
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3052
	}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3053
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3054
    return retval;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3055
}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3056
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3057
/******************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3058
 * File operations
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3059
 *****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3060
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3061
/** Called when the cdev is opened.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3062
 */
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3063
int eccdev_open(struct inode *inode, struct file *filp)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3064
{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3065
    ec_cdev_t *cdev = container_of(inode->i_cdev, ec_cdev_t, cdev);
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3066
    ec_cdev_priv_t *priv;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3067
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3068
    priv = kmalloc(sizeof(ec_cdev_priv_t), GFP_KERNEL);
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3069
    if (!priv) {
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3070
        EC_ERR("Failed to allocate memory for private data structure.\n");
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3071
        return -ENOMEM;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3072
    }
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3073
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3074
    priv->cdev = cdev;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3075
    priv->requested = 0;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3076
    priv->process_data = NULL;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3077
    priv->process_data_size = 0;
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3078
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3079
    filp->private_data = priv;
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3080
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3081
#if DEBUG_IOCTL
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3082
    EC_DBG("File opened.\n");
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3083
#endif
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3084
    return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3085
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3086
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3087
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3088
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3089
/** Called when the cdev is closed.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3090
 */
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3091
int eccdev_release(struct inode *inode, struct file *filp)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3092
{
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3093
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3094
    ec_master_t *master = priv->cdev->master;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3095
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3096
    if (priv->requested)
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3097
        ecrt_release_master(master);
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3098
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3099
    if (priv->process_data)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3100
        vfree(priv->process_data);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3101
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3102
#if DEBUG_IOCTL
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3103
    EC_DBG("File closed.\n");
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3104
#endif
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3105
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3106
    kfree(priv);
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3107
    return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3108
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3109
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3110
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3111
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3112
/** Called when an ioctl() command is issued.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3113
 */
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3114
long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3115
{
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3116
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3117
    ec_master_t *master = priv->cdev->master;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3118
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3119
#if DEBUG_IOCTL
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3120
    EC_DBG("ioctl(filp = 0x%x, cmd = 0x%08x (0x%02x), arg = 0x%x)\n",
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3121
            (u32) filp, (u32) cmd, (u32) _IOC_NR(cmd), (u32) arg);
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3122
#endif
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3123
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3124
    switch (cmd) {
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  3125
        case EC_IOCTL_MASTER:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3126
            return ec_cdev_ioctl_master(master, arg);
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3127
        case EC_IOCTL_SLAVE:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3128
            return ec_cdev_ioctl_slave(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3129
        case EC_IOCTL_SLAVE_SYNC:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3130
            return ec_cdev_ioctl_slave_sync(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3131
        case EC_IOCTL_SLAVE_SYNC_PDO:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3132
            return ec_cdev_ioctl_slave_sync_pdo(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3133
        case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3134
            return ec_cdev_ioctl_slave_sync_pdo_entry(master, arg);
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  3135
        case EC_IOCTL_DOMAIN:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3136
            return ec_cdev_ioctl_domain(master, arg);
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  3137
        case EC_IOCTL_DOMAIN_FMMU:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3138
            return ec_cdev_ioctl_domain_fmmu(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3139
        case EC_IOCTL_DOMAIN_DATA:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3140
            return ec_cdev_ioctl_domain_data(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3141
        case EC_IOCTL_MASTER_DEBUG:
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  3142
            if (!(filp->f_mode & FMODE_WRITE))
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  3143
                return -EPERM;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3144
            return ec_cdev_ioctl_master_debug(master, arg);
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  3145
        case EC_IOCTL_SLAVE_STATE:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3146
            if (!(filp->f_mode & FMODE_WRITE))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3147
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3148
            return ec_cdev_ioctl_slave_state(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3149
        case EC_IOCTL_SLAVE_SDO:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3150
            return ec_cdev_ioctl_slave_sdo(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3151
        case EC_IOCTL_SLAVE_SDO_ENTRY:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3152
            return ec_cdev_ioctl_slave_sdo_entry(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3153
        case EC_IOCTL_SLAVE_SDO_UPLOAD:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3154
            return ec_cdev_ioctl_slave_sdo_upload(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3155
        case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3156
            if (!(filp->f_mode & FMODE_WRITE))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3157
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3158
            return ec_cdev_ioctl_slave_sdo_download(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3159
        case EC_IOCTL_SLAVE_SII_READ:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3160
            return ec_cdev_ioctl_slave_sii_read(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3161
        case EC_IOCTL_SLAVE_SII_WRITE:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3162
            if (!(filp->f_mode & FMODE_WRITE))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3163
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3164
            return ec_cdev_ioctl_slave_sii_write(master, arg);
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  3165
        case EC_IOCTL_SLAVE_REG_READ:
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  3166
            return ec_cdev_ioctl_slave_reg_read(master, arg);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  3167
        case EC_IOCTL_SLAVE_REG_WRITE:
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  3168
            if (!(filp->f_mode & FMODE_WRITE))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  3169
                return -EPERM;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  3170
            return ec_cdev_ioctl_slave_reg_write(master, arg);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3171
        case EC_IOCTL_SLAVE_FOE_READ:
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3172
            return ec_cdev_ioctl_slave_foe_read(master, arg);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3173
        case EC_IOCTL_SLAVE_FOE_WRITE:
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3174
            if (!(filp->f_mode & FMODE_WRITE))
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3175
                return -EPERM;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3176
            return ec_cdev_ioctl_slave_foe_write(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3177
        case EC_IOCTL_CONFIG:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3178
            return ec_cdev_ioctl_config(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3179
        case EC_IOCTL_CONFIG_PDO:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3180
            return ec_cdev_ioctl_config_pdo(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3181
        case EC_IOCTL_CONFIG_PDO_ENTRY:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3182
            return ec_cdev_ioctl_config_pdo_entry(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3183
        case EC_IOCTL_CONFIG_SDO:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3184
            return ec_cdev_ioctl_config_sdo(master, arg);
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  3185
        case EC_IOCTL_EOE_HANDLER:
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  3186
            return ec_cdev_ioctl_eoe_handler(master, arg);
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3187
        case EC_IOCTL_REQUEST:
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3188
            if (!(filp->f_mode & FMODE_WRITE))
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3189
				return -EPERM;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3190
			return ec_cdev_ioctl_request(master, arg, priv);
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  3191
        case EC_IOCTL_CREATE_DOMAIN:
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  3192
            if (!(filp->f_mode & FMODE_WRITE))
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  3193
				return -EPERM;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  3194
			return ec_cdev_ioctl_create_domain(master, arg, priv);
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  3195
        case EC_IOCTL_CREATE_SLAVE_CONFIG:
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  3196
            if (!(filp->f_mode & FMODE_WRITE))
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  3197
				return -EPERM;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  3198
			return ec_cdev_ioctl_create_slave_config(master, arg, priv);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3199
        case EC_IOCTL_ACTIVATE:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3200
            if (!(filp->f_mode & FMODE_WRITE))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3201
				return -EPERM;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3202
			return ec_cdev_ioctl_activate(master, arg, priv);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3203
        case EC_IOCTL_SEND:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3204
            if (!(filp->f_mode & FMODE_WRITE))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3205
				return -EPERM;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3206
			return ec_cdev_ioctl_send(master, arg, priv);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3207
        case EC_IOCTL_RECEIVE:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3208
            if (!(filp->f_mode & FMODE_WRITE))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3209
				return -EPERM;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3210
			return ec_cdev_ioctl_receive(master, arg, priv);
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3211
        case EC_IOCTL_MASTER_STATE:
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3212
			return ec_cdev_ioctl_master_state(master, arg, priv);
1454
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  3213
        case EC_IOCTL_APP_TIME:
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  3214
            if (!(filp->f_mode & FMODE_WRITE))
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  3215
				return -EPERM;
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  3216
			return ec_cdev_ioctl_app_time(master, arg, priv);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3217
        case EC_IOCTL_SYNC_REF:
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3218
            if (!(filp->f_mode & FMODE_WRITE))
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3219
				return -EPERM;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3220
			return ec_cdev_ioctl_sync_ref(master, arg, priv);
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3221
        case EC_IOCTL_SYNC_SLAVES:
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3222
            if (!(filp->f_mode & FMODE_WRITE))
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3223
				return -EPERM;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3224
			return ec_cdev_ioctl_sync_slaves(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3225
        case EC_IOCTL_SC_SYNC:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3226
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3227
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3228
			return ec_cdev_ioctl_sc_sync(master, arg, priv);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3229
        case EC_IOCTL_SC_ADD_PDO:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3230
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3231
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3232
			return ec_cdev_ioctl_sc_add_pdo(master, arg, priv);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3233
        case EC_IOCTL_SC_CLEAR_PDOS:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3234
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3235
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3236
			return ec_cdev_ioctl_sc_clear_pdos(master, arg, priv);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3237
        case EC_IOCTL_SC_ADD_ENTRY:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3238
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3239
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3240
			return ec_cdev_ioctl_sc_add_entry(master, arg, priv);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3241
        case EC_IOCTL_SC_CLEAR_ENTRIES:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3242
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3243
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3244
			return ec_cdev_ioctl_sc_clear_entries(master, arg, priv);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3245
        case EC_IOCTL_SC_REG_PDO_ENTRY:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3246
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3247
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3248
			return ec_cdev_ioctl_sc_reg_pdo_entry(master, arg, priv);
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  3249
        case EC_IOCTL_SC_DC:
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3250
            if (!(filp->f_mode & FMODE_WRITE))
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3251
				return -EPERM;
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  3252
			return ec_cdev_ioctl_sc_dc(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3253
        case EC_IOCTL_SC_SDO:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3254
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3255
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3256
			return ec_cdev_ioctl_sc_sdo(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3257
        case EC_IOCTL_SC_SDO_REQUEST:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3258
            if (!(filp->f_mode & FMODE_WRITE))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3259
				return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3260
			return ec_cdev_ioctl_sc_create_sdo_request(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3261
        case EC_IOCTL_SC_VOE:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3262
            if (!(filp->f_mode & FMODE_WRITE))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3263
				return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3264
			return ec_cdev_ioctl_sc_create_voe_handler(master, arg, priv);
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3265
        case EC_IOCTL_SC_STATE:
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3266
			return ec_cdev_ioctl_sc_state(master, arg, priv);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3267
        case EC_IOCTL_DOMAIN_OFFSET:
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3268
			return ec_cdev_ioctl_domain_offset(master, arg, priv);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3269
        case EC_IOCTL_DOMAIN_PROCESS:
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3270
            if (!(filp->f_mode & FMODE_WRITE))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3271
				return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3272
			return ec_cdev_ioctl_domain_process(master, arg, priv);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3273
        case EC_IOCTL_DOMAIN_QUEUE:
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3274
            if (!(filp->f_mode & FMODE_WRITE))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3275
				return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3276
			return ec_cdev_ioctl_domain_queue(master, arg, priv);
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3277
        case EC_IOCTL_DOMAIN_STATE:
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3278
			return ec_cdev_ioctl_domain_state(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3279
        case EC_IOCTL_SDO_REQUEST_TIMEOUT:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3280
            if (!(filp->f_mode & FMODE_WRITE))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3281
				return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3282
			return ec_cdev_ioctl_sdo_request_timeout(master, arg, priv);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3283
        case EC_IOCTL_SDO_REQUEST_STATE:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3284
			return ec_cdev_ioctl_sdo_request_state(master, arg, priv);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3285
        case EC_IOCTL_SDO_REQUEST_READ:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3286
            if (!(filp->f_mode & FMODE_WRITE))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3287
				return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3288
			return ec_cdev_ioctl_sdo_request_read(master, arg, priv);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3289
        case EC_IOCTL_SDO_REQUEST_WRITE:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3290
            if (!(filp->f_mode & FMODE_WRITE))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3291
				return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3292
			return ec_cdev_ioctl_sdo_request_write(master, arg, priv);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3293
        case EC_IOCTL_SDO_REQUEST_DATA:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3294
			return ec_cdev_ioctl_sdo_request_data(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3295
        case EC_IOCTL_VOE_SEND_HEADER:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3296
            if (!(filp->f_mode & FMODE_WRITE))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3297
				return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3298
			return ec_cdev_ioctl_voe_send_header(master, arg, priv);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3299
        case EC_IOCTL_VOE_REC_HEADER:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3300
			return ec_cdev_ioctl_voe_rec_header(master, arg, priv);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3301
        case EC_IOCTL_VOE_READ:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3302
            if (!(filp->f_mode & FMODE_WRITE))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3303
				return -EPERM;
1381
f592fe7e799d Fixed VoE ioctl().
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
  3304
			return ec_cdev_ioctl_voe_read(master, arg, priv);
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3305
        case EC_IOCTL_VOE_READ_NOSYNC:
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3306
            if (!(filp->f_mode & FMODE_WRITE))
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3307
				return -EPERM;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3308
			return ec_cdev_ioctl_voe_read_nosync(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3309
        case EC_IOCTL_VOE_WRITE:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3310
            if (!(filp->f_mode & FMODE_WRITE))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3311
				return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3312
			return ec_cdev_ioctl_voe_write(master, arg, priv);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3313
        case EC_IOCTL_VOE_EXEC:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3314
            if (!(filp->f_mode & FMODE_WRITE))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3315
				return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3316
			return ec_cdev_ioctl_voe_exec(master, arg, priv);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3317
        case EC_IOCTL_VOE_DATA:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3318
			return ec_cdev_ioctl_voe_data(master, arg, priv);
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3319
        default:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3320
            return -ENOTTY;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3321
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3322
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3323
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3324
/*****************************************************************************/
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3325
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3326
/** Memory-map callback for the EtherCAT character device.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3327
 *
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3328
 * The actual mapping will be done in the eccdev_vma_nopage() callback of the
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3329
 * virtual memory area.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3330
 */
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3331
int eccdev_mmap(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3332
        struct file *filp,
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3333
        struct vm_area_struct *vma
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3334
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3335
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3336
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3337
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3338
    if (priv->cdev->master->debug_level)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3339
        EC_DBG("mmap()\n");
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3340
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3341
    vma->vm_ops = &eccdev_vm_ops;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3342
    vma->vm_flags |= VM_RESERVED; /* Pages will not be swapped out */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3343
    vma->vm_private_data = priv;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3344
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3345
    return 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3346
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3347
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3348
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3349
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3350
#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3351
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3352
/** Page fault callback for a virtual memory area.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3353
 *
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3354
 * Called at the first access on a virtual-memory area retrieved with
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3355
 * ecdev_mmap().
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3356
 */
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3357
static int eccdev_vma_fault(
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3358
        struct vm_area_struct *vma, /**< Virtual memory area. */
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3359
        struct vm_fault *vmf /**< Fault data. */
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3360
        )
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3361
{
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3362
    unsigned long offset = vmf->pgoff << PAGE_SHIFT;
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3363
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) vma->vm_private_data;
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3364
    struct page *page;
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3365
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3366
    if (offset >= priv->process_data_size)
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3367
        return VM_FAULT_SIGBUS;
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3368
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3369
    page = vmalloc_to_page(priv->process_data + offset);
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3370
    if (!page)
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3371
        return VM_FAULT_SIGBUS;
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3372
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3373
    get_page(page);
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3374
    vmf->page = page;
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3375
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3376
    if (priv->cdev->master->debug_level)
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3377
        EC_DBG("Vma fault, virtual_address = %p, offset = %lu, page = %p\n",
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3378
                vmf->virtual_address, offset, page);
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3379
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3380
    return 0;
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3381
}
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3382
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3383
#else
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3384
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3385
/** Nopage callback for a virtual memory area.
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3386
 *
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3387
 * Called at the first access on a virtual-memory area retrieved with
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3388
 * ecdev_mmap().
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3389
 */
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3390
struct page *eccdev_vma_nopage(
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3391
        struct vm_area_struct *vma, /**< Virtual memory area initialized by
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3392
                                      the kernel. */
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3393
        unsigned long address, /**< Requested virtual address. */
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3394
        int *type /**< Type output parameter. */
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3395
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3396
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3397
    unsigned long offset;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3398
    struct page *page = NOPAGE_SIGBUS;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3399
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) vma->vm_private_data;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3400
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3401
    offset = (address - vma->vm_start) + (vma->vm_pgoff << PAGE_SHIFT);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3402
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3403
    if (offset >= priv->process_data_size)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3404
        return NOPAGE_SIGBUS;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3405
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3406
    page = vmalloc_to_page(priv->process_data + offset);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3407
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3408
    if (priv->cdev->master->debug_level)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3409
        EC_DBG("Nopage fault vma, address = %#lx, offset = %#lx, page = %p\n",
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3410
                address, offset, page);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3411
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3412
    get_page(page);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3413
    if (type)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3414
        *type = VM_FAULT_MINOR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3415
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3416
    return page;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3417
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3418
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3419
#endif
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3420
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3421
/*****************************************************************************/