etherlabmaster: master/cdev.c@b954e9d91ea5 (annotated)

922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	EtherCAT master character device.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include <linux/module.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	42
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "cdev.h"
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#include "master.h"
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	#include "ioctl.h"
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	48
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	/** \cond */
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	50
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	int eccdev_open(struct inode , struct file );
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	int eccdev_release(struct inode , struct file );
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	ssize_t eccdev_read(struct file , char __user , size_t, loff_t *);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	ssize_t eccdev_write(struct file , const char __user , size_t, loff_t *);
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	55	long eccdev_ioctl(struct file *, unsigned int, unsigned long);
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	56
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	58
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	static struct file_operations eccdev_fops = {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	60	.owner = THIS_MODULE,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	61	.open = eccdev_open,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	62	.release = eccdev_release,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	63	.unlocked_ioctl = eccdev_ioctl
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	};
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	65
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	/** \endcond */
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	67
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	69
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	/** Constructor.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	* \return 0 in case of success, else < 0
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	*/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	int ec_cdev_init(
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	ec_cdev_t cdev, /< EtherCAT master character device. /
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	ec_master_t master, /< Parent master. /
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	dev_t dev_num /*< Device number. /
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	cdev->master = master;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	81
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	cdev_init(&cdev->cdev, &eccdev_fops);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	cdev->cdev.owner = THIS_MODULE;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	84
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	if (cdev_add(&cdev->cdev,
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	MKDEV(MAJOR(dev_num), master->index), 1)) {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	EC_ERR("Failed to add character device!\n");
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	return -1;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	90
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	93
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	95
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	/** Destructor.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	*/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	void ec_cdev_clear(ec_cdev_t cdev /< EtherCAT XML device /)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	cdev_del(&cdev->cdev);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	102
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	/******************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	* File operations
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	106
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	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	108	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	ec_cdev_t *cdev = container_of(inode->i_cdev, ec_cdev_t, cdev);
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	110	ec_master_t *master = cdev->master;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	111
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	filp->private_data = cdev;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	113	if (master->debug_level)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	114	EC_DBG("File opened.\n");
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	117
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	119
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	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	121	{
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	122	ec_cdev_t cdev = (ec_cdev_t ) filp->private_data;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	123	ec_master_t *master = cdev->master;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	124
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	125	if (master->debug_level)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	126	EC_DBG("File closed.\n");
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	129
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	131
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	132	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	133	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	134	ec_cdev_t cdev = (ec_cdev_t ) filp->private_data;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	ec_master_t *master = cdev->master;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	136	long retval = 0;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	137
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	if (master->debug_level)
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	139	EC_DBG("ioctl(filp = %x, cmd = %u, arg = %u)\n",
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	140	(u32) filp, (u32) cmd, (u32) arg);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	141
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	142	// FIXME lock
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	143
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	switch (cmd) {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	case EC_IOCTL_SLAVE_COUNT:
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	146	retval = master->slave_count;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	147	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	148
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	149	case EC_IOCTL_SLAVE:
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	{
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	151	ec_ioctl_slave_t data;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	152	const ec_slave_t *slave;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	153
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	154	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	155	retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	156	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	157	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	158
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	159	if (!(slave = ec_master_find_slave(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	160	master, 0, data.position))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	161	EC_ERR("Slave %u does not exist!\n", data.position);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	162	retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	163	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	164	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	165
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	166	data.vendor_id = slave->sii.vendor_id;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	167	data.product_code = slave->sii.product_code;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	168	data.alias = slave->sii.alias;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	169	data.state = slave->current_state;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	170
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	171	data.sync_count = slave->sii.sync_count;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	172
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	173	if (slave->sii.name) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	174	strncpy(data.name, slave->sii.name,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	175	EC_IOCTL_SLAVE_NAME_SIZE);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	176	data.name[EC_IOCTL_SLAVE_NAME_SIZE - 1] = 0;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	177	} else {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	178	data.name[0] = 0;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	179	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	180
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	181	if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	182	retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	183	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	184	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	185
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	186	break;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	188
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	189	case EC_IOCTL_SYNC:
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	{
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	191	ec_ioctl_sync_t data;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	192	const ec_slave_t *slave;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	193	const ec_sync_t *sync;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	194
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	195	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	196	retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	197	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	198	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	199
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	200	if (!(slave = ec_master_find_slave(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	201	master, 0, data.slave_position))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	202	EC_ERR("Slave %u does not exist!\n", data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	203	retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	204	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	205	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	206
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	207	if (data.sync_index >= slave->sii.sync_count) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	208	EC_ERR("Sync manager %u does not exist in slave %u!\n",
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	209	data.sync_index, data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	210	retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	211	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	212	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	213
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	214	sync = &slave->sii.syncs[data.sync_index];
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	215
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	216	data.physical_start_address = sync->physical_start_address;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	217	data.default_size = sync->length;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	218	data.control_register = sync->control_register;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	219	data.enable = sync->enable;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	220	data.assign_source = sync->assign_source;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	221	data.pdo_count = ec_pdo_list_count(&sync->pdos);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	222
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	223	if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	224	retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	225	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	226	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	227	break;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	229
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	230	case EC_IOCTL_PDO:
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	231	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	232	ec_ioctl_pdo_t data;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	233	const ec_slave_t *slave;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	234	const ec_sync_t *sync;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	235	const ec_pdo_t *pdo;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	236
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	237	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	238	retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	239	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	240	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	241
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	242	if (!(slave = ec_master_find_slave(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	243	master, 0, data.slave_position))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	244	EC_ERR("Slave %u does not exist!\n", data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	245	retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	246	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	247	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	248
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	249	if (data.sync_index >= slave->sii.sync_count) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	250	EC_ERR("Sync manager %u does not exist in slave %u!\n",
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	251	data.sync_index, data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	252	retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	253	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	254	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	255
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	256	sync = &slave->sii.syncs[data.sync_index];
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	257	if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	258	&sync->pdos, data.pdo_pos))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	259	EC_ERR("Sync manager %u does not contain a Pdo with "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	260	"position %u in slave %u!\n", data.sync_index,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	261	data.pdo_pos, data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	262	retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	263	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	264	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	265
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	266	data.dir = pdo->dir;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	267	data.index = pdo->index;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	268	data.entry_count = ec_pdo_entry_count(pdo);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	269
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	270	if (pdo->name) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	271	strncpy(data.name, pdo->name, EC_IOCTL_PDO_NAME_SIZE);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	272	data.name[EC_IOCTL_PDO_NAME_SIZE - 1] = 0;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	273	} else {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	274	data.name[0] = 0;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	275	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	276
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	277	if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	278	retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	279	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	280	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	281	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	282	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	283
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	284	case EC_IOCTL_PDO_ENTRY:
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	285	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	286	ec_ioctl_pdo_entry_t data;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	287	const ec_slave_t *slave;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	288	const ec_sync_t *sync;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	289	const ec_pdo_t *pdo;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	290	const ec_pdo_entry_t *entry;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	291
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	292	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	293	retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	294	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	295	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	296
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	297	if (!(slave = ec_master_find_slave(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	298	master, 0, data.slave_position))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	299	EC_ERR("Slave %u does not exist!\n", data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	300	retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	301	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	302	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	303
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	304	if (data.sync_index >= slave->sii.sync_count) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	305	EC_ERR("Sync manager %u does not exist in slave %u!\n",
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	306	data.sync_index, data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	307	retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	308	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	309	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	310
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	311	sync = &slave->sii.syncs[data.sync_index];
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	312	if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	313	&sync->pdos, data.pdo_pos))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	314	EC_ERR("Sync manager %u does not contain a Pdo with "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	315	"position %u in slave %u!\n", data.sync_index,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	316	data.pdo_pos, data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	317	retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	318	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	319	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	320
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	321	if (!(entry = ec_pdo_find_entry_by_pos_const(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	322	pdo, data.entry_pos))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	323	EC_ERR("Pdo 0x%04X does not contain an entry with "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	324	"position %u in slave %u!\n", data.pdo_pos,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	325	data.entry_pos, data.slave_position);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	326	retval = -EINVAL;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	327	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	328	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	329
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	330	data.index = entry->index;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	331	data.subindex = entry->subindex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	332	data.bit_length = entry->bit_length;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	333	if (entry->name) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	334	strncpy(data.name, entry->name,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	335	EC_IOCTL_PDO_ENTRY_NAME_SIZE);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	336	data.name[EC_IOCTL_PDO_ENTRY_NAME_SIZE - 1] = 0;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	337	} else {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	338	data.name[0] = 0;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	339	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	340
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	341	if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	342	retval = -EFAULT;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	343	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	344	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	345	break;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	346	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	347
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	default:
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	349	retval = -ENOIOCTLCMD;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	350	}
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	351
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	352	return retval;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	353	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	354
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	355	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 02 Jun 2008 10:51:31 +0000
changeset 935	b954e9d91ea5
parent 922	fede1d8f5b71
child 938	5b936e8e39fa
permissions	-rw-r--r--