etherlabmaster: master/ioctl.c@d461b1f07296 (annotated)

2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* published by the Free Software Foundation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* Public License for more details.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	* You should have received a copy of the GNU General Public License along
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	* ---
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* The license mentioned above concerns the source code only. Using the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	/**
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	\file
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	EtherCAT master character device.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include <linux/module.h>
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "master.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "slave_config.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "voe_handler.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "ethernet.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "ioctl.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	/** Set to 1 to enable ioctl() latency tracing.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	46	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	* Requires CPU timestamp counter!
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	#define DEBUG_LATENCY 0
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	50
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	52
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	/** Copies a string to an ioctl structure.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	static void ec_ioctl_strcpy(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	char target, /< Target. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	const char source /< Source. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	if (source) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	strncpy(target, source, EC_IOCTL_STRING_SIZE);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	target[EC_IOCTL_STRING_SIZE - 1] = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	target[0] = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	67
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	69
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	/** Get module information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	static int ec_ioctl_module(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	ec_ioctl_module_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	77
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	data.ioctl_version_magic = EC_IOCTL_VERSION_MAGIC;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	data.master_count = ec_master_count();
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	80
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	83
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	86
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	88
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	/** Get master information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	static int ec_ioctl_master(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	{
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	96	ec_ioctl_master_t io;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	97	unsigned int dev_idx, j;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	98
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	99	if (down_interruptible(&master->master_sem)) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	return -EINTR;
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	101	}
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	102
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	103	io.slave_count = master->slave_count;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	104	io.config_count = ec_master_config_count(master);
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	105	io.domain_count = ec_master_domain_count(master);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	#ifdef EC_EOE
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	107	io.eoe_handler_count = ec_master_eoe_handler_count(master);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	#endif
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	109	io.phase = (uint8_t) master->phase;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	110	io.active = (uint8_t) master->active;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	111	io.scan_busy = master->scan_busy;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	112
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	114
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	115	if (down_interruptible(&master->device_sem)) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	return -EINTR;
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	117	}
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	118
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	119	for (dev_idx = EC_DEVICE_MAIN;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	120	dev_idx < ec_master_num_devices(master); dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	121	ec_device_t *device = &master->devices[dev_idx];
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	122
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	if (device->dev) {
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	124	memcpy(io.devices[dev_idx].address, device->dev->dev_addr,
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	125	ETH_ALEN);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	} else {
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	127	memcpy(io.devices[dev_idx].address, master->macs[dev_idx],
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	128	ETH_ALEN);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	}
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	130	io.devices[dev_idx].attached = device->dev ? 1 : 0;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	131	io.devices[dev_idx].link_state = device->link_state ? 1 : 0;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	132	io.devices[dev_idx].tx_count = device->tx_count;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	133	io.devices[dev_idx].rx_count = device->rx_count;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	134	io.devices[dev_idx].tx_bytes = device->tx_bytes;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	135	io.devices[dev_idx].rx_bytes = device->rx_bytes;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	136	io.devices[dev_idx].tx_errors = device->tx_errors;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	for (j = 0; j < EC_RATE_COUNT; j++) {
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	138	io.devices[dev_idx].tx_frame_rates[j] =
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	device->tx_frame_rates[j];
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	140	io.devices[dev_idx].rx_frame_rates[j] =
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	device->rx_frame_rates[j];
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	142	io.devices[dev_idx].tx_byte_rates[j] =
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	device->tx_byte_rates[j];
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	144	io.devices[dev_idx].rx_byte_rates[j] =
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	device->rx_byte_rates[j];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	}
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	148	io.num_devices = ec_master_num_devices(master);
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	149
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	150	io.tx_count = master->device_stats.tx_count;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	151	io.rx_count = master->device_stats.rx_count;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	152	io.tx_bytes = master->device_stats.tx_bytes;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	153	io.rx_bytes = master->device_stats.rx_bytes;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	154	for (j = 0; j < EC_RATE_COUNT; j++) {
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	155	io.tx_frame_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	156	master->device_stats.tx_frame_rates[j];
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	157	io.rx_frame_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	158	master->device_stats.rx_frame_rates[j];
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	159	io.tx_byte_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	160	master->device_stats.tx_byte_rates[j];
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	161	io.rx_byte_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	162	master->device_stats.rx_byte_rates[j];
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	163	io.loss_rates[j] =
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	164	master->device_stats.loss_rates[j];
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	166
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	up(&master->device_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	168
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	169	io.app_time = master->app_time;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	170	io.ref_clock =
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	171	master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	172
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	173	if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	174	return -EFAULT;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	175	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	176
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	179
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	181
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	/** Get slave information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	static int ec_ioctl_slave(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	ec_ioctl_slave_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	int i;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	192
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	196
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	199
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	master, 0, data.position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	203	EC_MASTER_ERR(master, "Slave %u does not exist!\n", data.position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	206
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	data.device_index = slave->device_index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	data.vendor_id = slave->sii.vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	data.product_code = slave->sii.product_code;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	data.revision_number = slave->sii.revision_number;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	data.serial_number = slave->sii.serial_number;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	data.alias = slave->effective_alias;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	219	data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	221	data.mailbox_protocols = slave->sii.mailbox_protocols;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	data.has_general_category = slave->sii.has_general;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	223	data.coe_details = slave->sii.coe_details;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	data.general_flags = slave->sii.general_flags;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	data.current_on_ebus = slave->sii.current_on_ebus;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	for (i = 0; i < EC_MAX_PORTS; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	data.ports[i].desc = slave->ports[i].desc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	data.ports[i].link.link_up = slave->ports[i].link.link_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	data.ports[i].link.signal_detected =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	slave->ports[i].link.signal_detected;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	data.ports[i].receive_time = slave->ports[i].receive_time;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	if (slave->ports[i].next_slave) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	234	data.ports[i].next_slave =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	slave->ports[i].next_slave->ring_position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	237	data.ports[i].next_slave = 0xffff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	data.ports[i].delay_to_next_dc = slave->ports[i].delay_to_next_dc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	240	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	data.fmmu_bit = slave->base_fmmu_bit_operation;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	242	data.dc_supported = slave->base_dc_supported;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	243	data.dc_range = slave->base_dc_range;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	data.has_dc_system_time = slave->has_dc_system_time;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	245	data.transmission_delay = slave->transmission_delay;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	data.al_state = slave->current_state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	data.error_flag = slave->error_flag;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	248
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	data.sync_count = slave->sii.sync_count;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	data.sdo_count = ec_slave_sdo_count(slave);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	data.sii_nwords = slave->sii_nwords;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	ec_ioctl_strcpy(data.group, slave->sii.group);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	ec_ioctl_strcpy(data.image, slave->sii.image);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	254	ec_ioctl_strcpy(data.order, slave->sii.order);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	255	ec_ioctl_strcpy(data.name, slave->sii.name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	256
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	258
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	261
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	264
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	266
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	/** Get slave sync manager information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	static int ec_ioctl_slave_sync(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	ec_ioctl_slave_sync_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	const ec_sync_t *sync;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	277
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	281
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	284
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	292
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	if (data.sync_index >= slave->sii.sync_count) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	295	EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	296	data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	297	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	299
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	300	sync = &slave->sii.syncs[data.sync_index];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	301
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	data.physical_start_address = sync->physical_start_address;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	data.default_size = sync->default_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	data.control_register = sync->control_register;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	305	data.enable = sync->enable;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	data.pdo_count = ec_pdo_list_count(&sync->pdos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	307
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	309
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	312
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	315
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	316	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	317
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	/** Get slave sync manager PDO information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	319	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	static int ec_ioctl_slave_sync_pdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	323	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	324	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	325	ec_ioctl_slave_sync_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	327	const ec_sync_t *sync;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	329
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	330	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	331	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	333
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	336
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	337	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	338	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	343	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	344
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	if (data.sync_index >= slave->sii.sync_count) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	350	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	351
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	sync = &slave->sii.syncs[data.sync_index];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	354	&sync->pdos, data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	356	EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with "
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	"position %u!\n", data.sync_index, data.pdo_pos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	358	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	359	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	360
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	361	data.index = pdo->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	362	data.entry_count = ec_pdo_entry_count(pdo);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	363	ec_ioctl_strcpy(data.name, pdo->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	364
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	365	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	366
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	367	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	368	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	369
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	370	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	371	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	372
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	373	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	374
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	375	/** Get slave sync manager PDO entry information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	376	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	377	static int ec_ioctl_slave_sync_pdo_entry(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	378	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	379	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	380	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	381	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	382	ec_ioctl_slave_sync_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	383	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	384	const ec_sync_t *sync;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	385	const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	386	const ec_pdo_entry_t *entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	387
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	388	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	389	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	390	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	391
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	392	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	393	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	394
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	395	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	396	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	398	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	399	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	400	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	401	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	402
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	if (data.sync_index >= slave->sii.sync_count) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	404	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	405	EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	406	data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	407	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	408	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	409
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	410	sync = &slave->sii.syncs[data.sync_index];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	411	if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	412	&sync->pdos, data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	413	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	414	EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with "
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	415	"position %u!\n", data.sync_index, data.pdo_pos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	416	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	417	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	418
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	419	if (!(entry = ec_pdo_find_entry_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	420	pdo, data.entry_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	421	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	422	EC_SLAVE_ERR(slave, "PDO 0x%04X does not contain an entry with "
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	423	"position %u!\n", data.pdo_pos, data.entry_pos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	424	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	425	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	426
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	427	data.index = entry->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	428	data.subindex = entry->subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	429	data.bit_length = entry->bit_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	430	ec_ioctl_strcpy(data.name, entry->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	431
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	432	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	434	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	435	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	436
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	437	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	438	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	439
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	440	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	441
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	442	/** Get domain information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	443	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	444	static int ec_ioctl_domain(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	445	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	446	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	447	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	448	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	449	ec_ioctl_domain_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	450	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	451	unsigned int dev_idx;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	452
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	453	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	454	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	455	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	456
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	457	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	458	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	459
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	460	if (!(domain = ec_master_find_domain_const(master, data.index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	461	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	462	EC_MASTER_ERR(master, "Domain %u does not exist!\n", data.index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	463	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	464	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	465
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	466	data.data_size = domain->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	467	data.logical_base_address = domain->logical_base_address;
2453 d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	468	for (dev_idx = EC_DEVICE_MAIN;
d461b1f07296 Added configure option for redundancy (--with-devices). Florian Pose <fp@igh-essen.com> parents: 2447 diff changeset	469	dev_idx < ec_master_num_devices(domain->master); dev_idx++) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	470	data.working_counter[dev_idx] = domain->working_counter[dev_idx];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	471	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	472	data.expected_working_counter = domain->expected_working_counter;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	473	data.fmmu_count = ec_domain_fmmu_count(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	474
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	475	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	476
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	477	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	478	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	479
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	480	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	481	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	482
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	483	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	484
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	485	/** Get domain FMMU information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	486	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	487	static int ec_ioctl_domain_fmmu(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	488	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	489	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	490	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	491	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	492	ec_ioctl_domain_fmmu_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	493	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	494	const ec_fmmu_config_t *fmmu;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	495
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	496	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	497	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	498	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	499
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	500	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	501	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	502
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	503	if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	504	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	505	EC_MASTER_ERR(master, "Domain %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	506	data.domain_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	507	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	508	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	509
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	510	if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	511	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	512	EC_MASTER_ERR(master, "Domain %u has less than %u"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	513	" fmmu configurations.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	514	data.domain_index, data.fmmu_index + 1);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	515	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	516	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	517
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	518	data.slave_config_alias = fmmu->sc->alias;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	519	data.slave_config_position = fmmu->sc->position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	520	data.sync_index = fmmu->sync_index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	521	data.dir = fmmu->dir;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	522	data.logical_address = fmmu->logical_start_address;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	523	data.data_size = fmmu->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	524
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	525	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	526
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	527	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	528	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	529
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	530	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	531	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	532
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	533	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	534
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	535	/** Get domain data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	536	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	537	static int ec_ioctl_domain_data(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	538	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	539	void arg /< Userspace address to store the results. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	540	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	541	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	542	ec_ioctl_domain_data_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	543	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	544
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	545	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	546	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	547	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	548
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	549	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	550	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	551
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	552	if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	553	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	554	EC_MASTER_ERR(master, "Domain %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	555	data.domain_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	556	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	557	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	558
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	559	if (domain->data_size != data.data_size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	560	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	561	EC_MASTER_ERR(master, "Data size mismatch %u/%zu!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	562	data.data_size, domain->data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	563	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	564	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	565
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	566	if (copy_to_user((void __user *) data.target, domain->data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	567	domain->data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	568	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	569	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	570	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	571
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	572	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	573	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	574	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	575
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	576	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	577
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	578	/** Set master debug level.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	579	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	580	static int ec_ioctl_master_debug(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	581	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	582	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	583	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	584	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	585	return ec_master_debug_level(master, (unsigned int) arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	586	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	587
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	588	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	589
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	590	/** Issue a bus scan.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	591	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	592	static int ec_ioctl_master_rescan(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	593	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	594	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	595	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	596	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	597	master->fsm.rescan_required = 1;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	598	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	599	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	600
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	601	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	602
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	603	/** Set slave state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	604	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	605	static int ec_ioctl_slave_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	606	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	607	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	608	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	609	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	610	ec_ioctl_slave_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	611	ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	612
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	613	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	614	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	615	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	616
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	617	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	618	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	619
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	620	if (!(slave = ec_master_find_slave(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	621	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	622	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	623	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	624	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	625	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	626	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	627
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	628	ec_slave_request_state(slave, data.al_state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	629
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	630	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	631	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	632	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	633
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	634	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	635
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	636	/** Get slave SDO information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	637	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	638	static int ec_ioctl_slave_sdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	639	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	640	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	641	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	642	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	643	ec_ioctl_slave_sdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	644	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	645	const ec_sdo_t *sdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	646
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	647	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	648	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	649	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	650
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	651	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	652	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	653
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	654	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	655	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	656	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	657	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	658	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	659	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	660	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	661
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	662	if (!(sdo = ec_slave_get_sdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	663	slave, data.sdo_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	664	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	665	EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", data.sdo_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	666	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	667	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	668
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	669	data.sdo_index = sdo->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	670	data.max_subindex = sdo->max_subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	671	ec_ioctl_strcpy(data.name, sdo->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	672
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	673	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	674
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	675	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	676	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	677
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	678	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	679	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	680
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	681	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	682
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	683	/** Get slave SDO entry information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	684	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	685	static int ec_ioctl_slave_sdo_entry(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	686	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	687	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	688	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	689	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	690	ec_ioctl_slave_sdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	691	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	692	const ec_sdo_t *sdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	693	const ec_sdo_entry_t *entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	694
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	695	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	696	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	697	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	698
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	699	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	700	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	701
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	702	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	703	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	704	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	705	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	706	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	707	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	708	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	709
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	710	if (data.sdo_spec <= 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	711	if (!(sdo = ec_slave_get_sdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	712	slave, -data.sdo_spec))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	713	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	714	EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", -data.sdo_spec);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	715	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	716	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	717	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	718	if (!(sdo = ec_slave_get_sdo_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	719	slave, data.sdo_spec))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	720	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	721	EC_SLAVE_ERR(slave, "SDO 0x%04X does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	722	data.sdo_spec);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	723	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	724	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	725	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	726
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	727	if (!(entry = ec_sdo_get_entry_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	728	sdo, data.sdo_entry_subindex))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	729	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	730	EC_SLAVE_ERR(slave, "SDO entry 0x%04X:%02X does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	731	sdo->index, data.sdo_entry_subindex);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	732	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	733	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	734
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	735	data.data_type = entry->data_type;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	736	data.bit_length = entry->bit_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	737	data.read_access[EC_SDO_ENTRY_ACCESS_PREOP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	738	entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	739	data.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	740	entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	741	data.read_access[EC_SDO_ENTRY_ACCESS_OP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	742	entry->read_access[EC_SDO_ENTRY_ACCESS_OP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	743	data.write_access[EC_SDO_ENTRY_ACCESS_PREOP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	744	entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	745	data.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	746	entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	747	data.write_access[EC_SDO_ENTRY_ACCESS_OP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	748	entry->write_access[EC_SDO_ENTRY_ACCESS_OP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	749	ec_ioctl_strcpy(data.description, entry->description);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	750
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	751	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	752
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	753	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	754	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	755
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	756	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	757	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	758
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	759	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	760
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	761	/** Upload SDO.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	762	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	763	static int ec_ioctl_slave_sdo_upload(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	764	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	765	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	766	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	767	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	768	ec_ioctl_slave_sdo_upload_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	769	uint8_t *target;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	770	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	771
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	772	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	773	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	774	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	775
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	776	if (!(target = kmalloc(data.target_size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	777	EC_MASTER_ERR(master, "Failed to allocate %u bytes"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	778	" for SDO upload.\n", data.target_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	779	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	780	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	781
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	782	ret = ecrt_master_sdo_upload(master, data.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	783	data.sdo_index, data.sdo_entry_subindex, target,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	784	data.target_size, &data.data_size, &data.abort_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	785
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	786	if (!ret) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	787	if (copy_to_user((void __user *) data.target,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	788	target, data.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	789	kfree(target);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	790	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	791	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	792	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	793
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	794	kfree(target);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	795
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	796	if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	797	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	798	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	799
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	800	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	801	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	802
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	803	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	804
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	805	/** Download SDO.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	806	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	807	static int ec_ioctl_slave_sdo_download(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	808	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	809	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	810	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	811	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	812	ec_ioctl_slave_sdo_download_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	813	uint8_t *sdo_data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	814	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	815
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	816	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	817	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	818	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	819
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	820	if (!(sdo_data = kmalloc(data.data_size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	821	EC_MASTER_ERR(master, "Failed to allocate %u bytes"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	822	" for SDO download.\n", data.data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	823	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	824	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	825
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	826	if (copy_from_user(sdo_data, (void __user *) data.data, data.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	827	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	828	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	829	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	830
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	831	if (data.complete_access) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	832	retval = ecrt_master_sdo_download_complete(master, data.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	833	data.sdo_index, sdo_data, data.data_size, &data.abort_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	834	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	835	retval = ecrt_master_sdo_download(master, data.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	836	data.sdo_index, data.sdo_entry_subindex, sdo_data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	837	data.data_size, &data.abort_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	838	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	839
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	840	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	841
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	842	if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	843	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	844	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	845
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	846	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	847	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	848
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	849	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	850
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	851	/** Read a slave's SII.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	852	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	853	static int ec_ioctl_slave_sii_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	854	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	855	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	856	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	857	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	858	ec_ioctl_slave_sii_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	859	const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	860	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	861
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	862	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	863	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	864	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	865
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	866	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	867	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	868
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	869	if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	870	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	871	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	872	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	873	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	874	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	875	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	876
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	877	if (!data.nwords
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	878	\|\| data.offset + data.nwords > slave->sii_nwords) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	879	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	880	EC_SLAVE_ERR(slave, "Invalid SII read offset/size %u/%u for slave SII"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	881	" size %zu!\n", data.offset, data.nwords, slave->sii_nwords);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	882	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	883	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	884
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	885	if (copy_to_user((void __user *) data.words,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	886	slave->sii_words + data.offset, data.nwords * 2))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	887	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	888	else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	889	retval = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	890
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	891	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	892	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	893	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	894
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	895	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	896
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	897	/** Write a slave's SII.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	898	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	899	static int ec_ioctl_slave_sii_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	900	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	901	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	902	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	903	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	904	ec_ioctl_slave_sii_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	905	ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	906	unsigned int byte_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	907	uint16_t *words;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	908	ec_sii_write_request_t request;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	909
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	910	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	911	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	912	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	913
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	914	if (!data.nwords)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	915	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	916
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	917	byte_size = sizeof(uint16_t) * data.nwords;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	918	if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	919	EC_MASTER_ERR(master, "Failed to allocate %u bytes"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	920	" for SII contents.\n", byte_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	921	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	922	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	923
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	924	if (copy_from_user(words,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	925	(void __user *) data.words, byte_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	926	kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	927	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	928	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	929
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	930	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	931	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	932
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	933	if (!(slave = ec_master_find_slave(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	934	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	935	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	936	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	937	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	938	kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	939	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	940	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	941
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	942	// init SII write request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	943	INIT_LIST_HEAD(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	944	request.slave = slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	945	request.words = words;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	946	request.offset = data.offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	947	request.nwords = data.nwords;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	948	request.state = EC_INT_REQUEST_QUEUED;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	949
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	950	// schedule SII write request.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	951	list_add_tail(&request.list, &master->sii_requests);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	952
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	953	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	954
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	955	// wait for processing through FSM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	956	if (wait_event_interruptible(master->sii_queue,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	957	request.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	958	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	959	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	960	if (request.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	961	// abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	962	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	963	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	964	kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	965	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	966	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	967	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	968	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	969
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	970	// wait until master FSM has finished processing
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	971	wait_event(master->sii_queue, request.state != EC_INT_REQUEST_BUSY);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	972
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	973	kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	974
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	975	return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	976	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	977
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	978	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	979
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	980	/** Read a slave's registers.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	981	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	982	static int ec_ioctl_slave_reg_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	983	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	984	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	985	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	986	{
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	987	ec_ioctl_slave_reg_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	988	ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	989	ec_reg_request_t request;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	990	int ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	991
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	992	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	993	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	994	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	995
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	996	if (!io.size) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	997	return 0;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	998	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	999
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1000	// init register request
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1001	ret = ec_reg_request_init(&request, io.size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1002	if (ret) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1003	return ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1004	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1005
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1006	ecrt_reg_request_read(&request, io.address, io.size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1007
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1008	if (down_interruptible(&master->master_sem)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1009	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1010	return -EINTR;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1011	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1012
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1013	if (!(slave = ec_master_find_slave(
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1014	master, 0, io.slave_position))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1015	up(&master->master_sem);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1016	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1017	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1018	io.slave_position);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1019	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1020	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1021
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1022	// schedule request.
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1023	list_add_tail(&request.list, &slave->reg_requests);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1024
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1025	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1026
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1027	// wait for processing through FSM
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1028	if (wait_event_interruptible(slave->reg_queue,
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1029	request.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1030	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1031	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1032	if (request.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1033	// abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1034	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1035	up(&master->master_sem);
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1036	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1037	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1038	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1039	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1040	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1041
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1042	// wait until master FSM has finished processing
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1043	wait_event(slave->reg_queue, request.state != EC_INT_REQUEST_BUSY);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1044
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1045	if (request.state == EC_INT_REQUEST_SUCCESS) {
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1046	if (copy_to_user((void __user *) io.data, request.data, io.size)) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1047	return -EFAULT;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1048	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1049	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1050	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1051
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1052	return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1053	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1054
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1055	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1056
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1057	/** Write a slave's registers.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1058	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1059	static int ec_ioctl_slave_reg_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1060	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1061	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1062	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1063	{
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1064	ec_ioctl_slave_reg_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1065	ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1066	ec_reg_request_t request;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1067	int ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1068
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1069	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1070	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1071	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1072
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1073	if (!io.size) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1074	return 0;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1075	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1076
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1077	// init register request
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1078	ret = ec_reg_request_init(&request, io.size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1079	if (ret) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1080	return ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1081	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1082
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1083	if (copy_from_user(request.data, (void __user *) io.data, io.size)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1084	ec_reg_request_clear(&request);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1085	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1086	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1087
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1088	ecrt_reg_request_write(&request, io.address, io.size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1089
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1090	if (down_interruptible(&master->master_sem)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1091	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1092	return -EINTR;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1093	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1094
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1095	if (!(slave = ec_master_find_slave(
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1096	master, 0, io.slave_position))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1097	up(&master->master_sem);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1098	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1099	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1100	io.slave_position);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1101	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1102	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1103
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1104	// schedule request.
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1105	list_add_tail(&request.list, &slave->reg_requests);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1106
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1107	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1108
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1109	// wait for processing through FSM
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1110	if (wait_event_interruptible(slave->reg_queue,
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1111	request.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1112	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1113	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1114	if (request.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1115	// abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1116	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1117	up(&master->master_sem);
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1118	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1119	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1120	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1121	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1122	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1123
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1124	// wait until master FSM has finished processing
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1125	wait_event(slave->reg_queue, request.state != EC_INT_REQUEST_BUSY);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1126
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1127	ec_reg_request_clear(&request);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1128
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1129	return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1130	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1131
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1132	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1133
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1134	/** Get slave configuration information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1135	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1136	static int ec_ioctl_config(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1137	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1138	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1139	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1140	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1141	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1142	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1143	uint8_t i;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1144
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1145	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1146	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1147	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1148
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1149	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1150	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1151
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1152	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1153	master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1154	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1155	EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1156	data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1157	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1158	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1159
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1160	data.alias = sc->alias;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1161	data.position = sc->position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1162	data.vendor_id = sc->vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1163	data.product_code = sc->product_code;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1164	for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1165	data.syncs[i].dir = sc->sync_configs[i].dir;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1166	data.syncs[i].watchdog_mode = sc->sync_configs[i].watchdog_mode;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1167	data.syncs[i].pdo_count =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1168	ec_pdo_list_count(&sc->sync_configs[i].pdos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1169	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1170	data.watchdog_divider = sc->watchdog_divider;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1171	data.watchdog_intervals = sc->watchdog_intervals;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1172	data.sdo_count = ec_slave_config_sdo_count(sc);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1173	data.idn_count = ec_slave_config_idn_count(sc);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1174	data.slave_position = sc->slave ? sc->slave->ring_position : -1;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1175	data.dc_assign_activate = sc->dc_assign_activate;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1176	for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1177	data.dc_sync[i] = sc->dc_sync[i];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1178	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1179
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1180	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1181
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1182	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1183	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1184
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1185	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1186	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1187
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1188	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1189
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1190	/** Get slave configuration PDO information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1191	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1192	static int ec_ioctl_config_pdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1193	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1194	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1195	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1196	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1197	ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1198	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1199	const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1200
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1201	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1202	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1203	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1204
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1205	if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1206	EC_MASTER_ERR(master, "Invalid sync manager index %u!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1207	data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1208	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1209	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1210
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1211	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1212	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1213
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1214	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1215	master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1216	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1217	EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1218	data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1219	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1220	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1221
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1222	if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1223	&sc->sync_configs[data.sync_index].pdos,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1224	data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1225	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1226	EC_MASTER_ERR(master, "Invalid PDO position!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1227	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1228	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1229
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1230	data.index = pdo->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1231	data.entry_count = ec_pdo_entry_count(pdo);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1232	ec_ioctl_strcpy(data.name, pdo->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1233
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1234	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1235
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1236	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1237	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1238
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1239	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1240	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1241
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1242	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1243
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1244	/** Get slave configuration PDO entry information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1245	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1246	static int ec_ioctl_config_pdo_entry(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1247	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1248	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1249	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1250	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1251	ec_ioctl_config_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1252	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1253	const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1254	const ec_pdo_entry_t *entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1255
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1256	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1257	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1258	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1259
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1260	if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1261	EC_MASTER_ERR(master, "Invalid sync manager index %u!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1262	data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1263	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1264	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1265
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1266	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1267	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1268
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1269	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1270	master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1271	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1272	EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1273	data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1274	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1275	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1276
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1277	if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1278	&sc->sync_configs[data.sync_index].pdos,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1279	data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1280	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1281	EC_MASTER_ERR(master, "Invalid PDO position!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1282	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1283	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1284
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1285	if (!(entry = ec_pdo_find_entry_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1286	pdo, data.entry_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1287	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1288	EC_MASTER_ERR(master, "Entry not found!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1289	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1290	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1291
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1292	data.index = entry->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1293	data.subindex = entry->subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1294	data.bit_length = entry->bit_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1295	ec_ioctl_strcpy(data.name, entry->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1296
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1297	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1298
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1299	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1300	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1301
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1302	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1303	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1304
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1305	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1306
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1307	/** Get slave configuration SDO information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1308	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1309	static int ec_ioctl_config_sdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1310	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1311	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1312	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1313	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1314	ec_ioctl_config_sdo_t *ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1315	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1316	const ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1317
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1318	if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1319	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1320	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1321
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1322	if (copy_from_user(ioctl, (void __user ) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1323	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1324	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1325	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1326
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1327	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1328	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1329	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1330	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1331
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1332	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1333	master, ioctl->config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1334	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1335	EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1336	ioctl->config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1337	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1338	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1339	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1340
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1341	if (!(req = ec_slave_config_get_sdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1342	sc, ioctl->sdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1343	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1344	EC_MASTER_ERR(master, "Invalid SDO position!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1345	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1346	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1347	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1348
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1349	ioctl->index = req->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1350	ioctl->subindex = req->subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1351	ioctl->size = req->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1352	memcpy(ioctl->data, req->data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1353	min((u32) ioctl->size, (u32) EC_MAX_SDO_DATA_SIZE));
2435 4151f6f4c3e1 Show complete access flag in config view. Florian Pose <fp@igh-essen.com> parents: 2434 diff changeset	1354	ioctl->complete_access = req->complete_access;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1355
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1356	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1357
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1358	if (copy_to_user((void __user ) arg, ioctl, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1359	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1360	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1361	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1362
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1363	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1364	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1365	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1366
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1367	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1368
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1369	/** Get slave configuration IDN information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1370	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1371	static int ec_ioctl_config_idn(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1372	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1373	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1374	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1375	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1376	ec_ioctl_config_idn_t *ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1377	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1378	const ec_soe_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1379
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1380	if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1381	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1382	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1383
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1384	if (copy_from_user(ioctl, (void __user ) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1385	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1386	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1387	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1388
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1389	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1390	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1391	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1392	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1393
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1394	if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1395	master, ioctl->config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1396	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1397	EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1398	ioctl->config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1399	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1400	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1401	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1402
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1403	if (!(req = ec_slave_config_get_idn_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1404	sc, ioctl->idn_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1405	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1406	EC_MASTER_ERR(master, "Invalid IDN position!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1407	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1408	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1409	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1410
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1411	ioctl->drive_no = req->drive_no;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1412	ioctl->idn = req->idn;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1413	ioctl->state = req->state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1414	ioctl->size = req->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1415	memcpy(ioctl->data, req->data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1416	min((u32) ioctl->size, (u32) EC_MAX_IDN_DATA_SIZE));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1417
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1418	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1419
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1420	if (copy_to_user((void __user ) arg, ioctl, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1421	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1422	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1423	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1424
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1425	kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1426	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1427	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1428
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1429	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1430
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1431	#ifdef EC_EOE
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1432
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1433	/** Get EoE handler information.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1434	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1435	static int ec_ioctl_eoe_handler(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1436	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1437	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1438	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1439	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1440	ec_ioctl_eoe_handler_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1441	const ec_eoe_t *eoe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1442
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1443	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1444	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1445	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1446
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1447	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1448	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1449
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1450	if (!(eoe = ec_master_get_eoe_handler_const(master, data.eoe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1451	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1452	EC_MASTER_ERR(master, "EoE handler %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1453	data.eoe_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1454	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1455	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1456
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1457	if (eoe->slave) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1458	data.slave_position = eoe->slave->ring_position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1459	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1460	data.slave_position = 0xffff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1461	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1462	snprintf(data.name, EC_DATAGRAM_NAME_SIZE, eoe->dev->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1463	data.open = eoe->opened;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1464	data.rx_bytes = eoe->stats.tx_bytes;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1465	data.rx_rate = eoe->tx_rate;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1466	data.tx_bytes = eoe->stats.rx_bytes;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1467	data.tx_rate = eoe->tx_rate;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1468	data.tx_queued_frames = eoe->tx_queued_frames;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1469	data.tx_queue_size = eoe->tx_queue_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1470
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1471	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1472
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1473	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1474	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1475
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1476	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1477	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1478
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1479	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1480
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1481	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1482
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1483	/** Request the master from userspace.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1484	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1485	static int ec_ioctl_request(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1486	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1487	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1488	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1489	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1490	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1491	ec_master_t *m;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1492	int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1493
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1494	m = ecrt_request_master_err(master->index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1495	if (IS_ERR(m)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1496	ret = PTR_ERR(m);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1497	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1498	ctx->requested = 1;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1499	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1500
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1501	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1502	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1503
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1504	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1505
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1506	/** Create a domain.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1507	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1508	static int ec_ioctl_create_domain(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1509	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1510	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1511	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1512	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1513	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1514	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1515
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1516	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1517	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1518
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1519	domain = ecrt_master_create_domain_err(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1520	if (IS_ERR(domain))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1521	return PTR_ERR(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1522
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1523	return domain->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1524	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1525
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1526	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1527
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1528	/** Create a slave configuration.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1529	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1530	static int ec_ioctl_create_slave_config(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1531	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1532	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1533	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1534	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1535	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1536	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1537	ec_slave_config_t sc, entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1538
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1539	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1540	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1541
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1542	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1543	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1544	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1545
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1546	sc = ecrt_master_slave_config_err(master, data.alias, data.position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1547	data.vendor_id, data.product_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1548	if (IS_ERR(sc))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1549	return PTR_ERR(sc);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1550
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1551	data.config_index = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1552
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1553	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1554	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1555
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1556	list_for_each_entry(entry, &master->configs, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1557	if (entry == sc)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1558	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1559	data.config_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1560	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1561
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1562	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1563
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1564	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1565	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1566
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1567	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1568	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1569
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1570	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1571
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1572	/** Select the DC reference clock.
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1573	*/
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1574	static int ec_ioctl_select_ref_clock(
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1575	ec_master_t master, /< EtherCAT master. /
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1576	void arg, /< ioctl() argument. /
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1577	ec_ioctl_context_t ctx /< Private data structure of file handle. /
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1578	)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1579	{
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1580	uint32_t config_index = (uint32_t) arg;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1581	ec_slave_config_t *sc = NULL;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1582	int ret = 0;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1583
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1584	if (unlikely(!ctx->requested)) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1585	ret = -EPERM;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1586	goto out_return;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1587	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1588
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1589	if (down_interruptible(&master->master_sem)) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1590	ret = -EINTR;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1591	goto out_return;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1592	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1593
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1594	if (config_index != 0xFFFFFFFF) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1595	if (!(sc = ec_master_get_config(master, config_index))) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1596	ret = -ENOENT;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1597	goto out_up;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1598	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1599	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1600
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1601	ecrt_master_select_reference_clock(master, sc);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1602
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1603	out_up:
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1604	up(&master->master_sem);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1605	out_return:
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1606	return ret;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1607	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1608
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1609	/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1610
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1611	/** Activates the master.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1612	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1613	static int ec_ioctl_activate(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1614	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1615	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1616	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1617	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1618	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1619	ec_ioctl_master_activate_t io;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1620	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1621	off_t offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1622	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1623
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1624	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1625	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1626
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1627	io.process_data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1628
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1629	/* Get the sum of the domains' process data sizes. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1630
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1631	ctx->process_data_size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1632
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1633	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1634	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1635
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1636	list_for_each_entry(domain, &master->domains, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1637	ctx->process_data_size += ecrt_domain_size(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1638	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1639
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1640	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1641
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1642	if (ctx->process_data_size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1643	ctx->process_data = vmalloc(ctx->process_data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1644	if (!ctx->process_data) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1645	ctx->process_data_size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1646	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1647	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1648
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1649	/* Set the memory as external process data memory for the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1650	* domains.
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1651	*/
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1652	offset = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1653	list_for_each_entry(domain, &master->domains, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1654	ecrt_domain_external_memory(domain,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1655	ctx->process_data + offset);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1656	offset += ecrt_domain_size(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1657	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1658
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1659	#ifdef EC_IOCTL_RTDM
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1660	/* RTDM uses a different approach for memory-mapping, which has to be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1661	* initiated by the kernel.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1662	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	1663	ret = ec_rtdm_mmap(ctx, &io.process_data);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1664	if (ret < 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1665	EC_MASTER_ERR(master, "Failed to map process data"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1666	" memory to user space (code %i).\n", ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1667	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1668	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1669	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1670	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1671
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1672	io.process_data_size = ctx->process_data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1673
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1674	#ifndef EC_IOCTL_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1675	ecrt_master_callbacks(master, ec_master_internal_send_cb,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1676	ec_master_internal_receive_cb, master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1677	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1678
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1679	ret = ecrt_master_activate(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1680	if (ret < 0)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1681	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1682
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1683	if (copy_to_user((void __user *) arg, &io,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1684	sizeof(ec_ioctl_master_activate_t)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1685	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1686
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1687	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1688	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1689
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1690	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1691
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1692	/** Deactivates the master.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1693	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1694	static int ec_ioctl_deactivate(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1695	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1696	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1697	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1698	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1699	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1700	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1701	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1702
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1703	ecrt_master_deactivate(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1704	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1705	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1706
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1707	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1708
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1709	/** Set max. number of databytes in a cycle
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1710	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1711	static int ec_ioctl_set_send_interval(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1712	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1713	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1714	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1715	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1716	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1717	size_t send_interval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1718
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1719	if (copy_from_user(&send_interval, (void __user *) arg,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1720	sizeof(send_interval))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1721	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1722	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1723
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1724	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1725	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1726
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1727	ec_master_set_send_interval(master, send_interval);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1728
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1729	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1730	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1731	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1732
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1733	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1734
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1735	/** Send frames.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1736	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1737	static int ec_ioctl_send(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1738	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1739	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1740	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1741	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1742	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1743	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1744	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1745
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1746	down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1747	ecrt_master_send(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1748	up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1749	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1750	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1751
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1752	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1753
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1754	/** Receive frames.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1755	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1756	static int ec_ioctl_receive(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1757	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1758	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1759	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1760	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1761	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1762	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1763	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1764
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1765	down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1766	ecrt_master_receive(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1767	up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1768	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1769	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1770
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1771	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1772
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1773	/** Get the master state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1774	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1775	static int ec_ioctl_master_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1776	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1777	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1778	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1779	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1780	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1781	ec_master_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1782
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1783	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1784	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1785
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1786	ecrt_master_state(master, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1787
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1788	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1789	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1790
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1791	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1792	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1793
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1794	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1795
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1796	/** Get the master state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1797	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1798	static int ec_ioctl_master_link_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1799	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1800	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1801	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1802	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1803	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1804	ec_ioctl_link_state_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1805	ec_master_link_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1806	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1807
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1808	if (unlikely(!ctx->requested)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1809	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1810	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1811
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1812	if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1813	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1814	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1815
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1816	ret = ecrt_master_link_state(master, ioctl.dev_idx, &state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1817	if (ret < 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1818	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1819	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1820
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1821	if (copy_to_user((void __user *) ioctl.state, &state, sizeof(state))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1822	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1823	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1824
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1825	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1826	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1827
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1828	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1829
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1830	/** Set the master dc app time.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1831	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1832	static int ec_ioctl_app_time(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1833	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1834	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1835	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1836	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1837	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1838	ec_ioctl_app_time_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1839
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1840	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1841	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1842
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1843	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1844	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1845	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1846
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1847	ecrt_master_application_time(master, data.app_time);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1848	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1849	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1850
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1851	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1852
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1853	/** Sync the reference clock.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1854	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1855	static int ec_ioctl_sync_ref(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1856	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1857	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1858	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1859	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1860	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1861	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1862	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1863
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1864	down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1865	ecrt_master_sync_reference_clock(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1866	up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1867	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1868	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1869
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1870	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1871
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1872	/** Sync the slave clocks.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1873	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1874	static int ec_ioctl_sync_slaves(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1875	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1876	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1877	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1878	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1879	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1880	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1881	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1882
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1883	down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1884	ecrt_master_sync_slave_clocks(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1885	up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1886	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1887	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1888
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1889	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1890
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1891	/** Get the system time of the reference clock.
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1892	*/
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1893	static int ec_ioctl_ref_clock_time(
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1894	ec_master_t master, /< EtherCAT master. /
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1895	void arg, /< ioctl() argument. /
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1896	ec_ioctl_context_t ctx /< Private data structure of file handle. /
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1897	)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1898	{
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1899	uint32_t time;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1900	int ret;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1901
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1902	if (unlikely(!ctx->requested)) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1903	return -EPERM;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1904	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1905
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1906	ret = ecrt_master_reference_clock_time(master, &time);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1907	if (ret) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1908	return ret;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1909	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1910
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1911	if (copy_to_user((void __user *) arg, &time, sizeof(time))) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1912	return -EFAULT;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1913	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1914
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1915	return 0;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1916	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1917
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1918	/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	1919
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1920	/** Queue the sync monitoring datagram.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1921	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1922	static int ec_ioctl_sync_mon_queue(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1923	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1924	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1925	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1926	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1927	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1928	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1929	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1930
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1931	down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1932	ecrt_master_sync_monitor_queue(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1933	up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1934	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1935	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1936
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1937	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1938
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1939	/** Processes the sync monitoring datagram.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1940	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1941	static int ec_ioctl_sync_mon_process(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1942	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1943	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1944	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1945	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1946	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1947	uint32_t time_diff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1948
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1949	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1950	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1951
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1952	down(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1953	time_diff = ecrt_master_sync_monitor_process(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1954	up(&master->io_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1955
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1956	if (copy_to_user((void __user *) arg, &time_diff, sizeof(time_diff)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1957	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1958
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1959	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1960	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1961
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1962	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1963
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1964	/** Reset configuration.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1965	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1966	static int ec_ioctl_reset(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1967	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1968	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1969	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1970	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1971	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1972	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1973	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1974
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1975	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1976	ecrt_master_reset(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1977	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1978	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1979	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1980
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1981	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1982
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1983	/** Configure a sync manager.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1984	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1985	static int ec_ioctl_sc_sync(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1986	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1987	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1988	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1989	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1990	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1991	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1992	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1993	unsigned int i;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1994	int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1995
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1996	if (unlikely(!ctx->requested)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1997	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1998	goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1999	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2000
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2001	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2002	ret = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2003	goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2004	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2005
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2006	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2007	ret = -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2008	goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2009	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2010
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2011	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2012	ret = -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2013	goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2014	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2015
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2016	for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2017	if (data.syncs[i].config_this) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2018	if (ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2019	data.syncs[i].watchdog_mode)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2020	ret = -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2021	goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2022	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2023	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2024	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2025
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2026	out_up:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2027	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2028	out_return:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2029	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2030	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2031
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2032	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2033
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2034	/** Configure a slave's watchdogs.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2035	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2036	static int ec_ioctl_sc_watchdog(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2037	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2038	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2039	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2040	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2041	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2042	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2043	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2044	int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2045
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2046	if (unlikely(!ctx->requested)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2047	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2048	goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2049	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2050
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2051	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2052	ret = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2053	goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2054	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2055
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2056	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2057	ret = -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2058	goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2059	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2060
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2061	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2062	ret = -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2063	goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2064	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2065
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2066	ecrt_slave_config_watchdog(sc,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2067	data.watchdog_divider, data.watchdog_intervals);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2068
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2069	out_up:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2070	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2071	out_return:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2072	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2073	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2074
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2075	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2076
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2077	/** Add a PDO to the assignment.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2078	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2079	static int ec_ioctl_sc_add_pdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2080	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2081	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2082	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2083	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2084	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2085	ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2086	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2087
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2088	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2089	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2090
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2091	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2092	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2093
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2094	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2095	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2096
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2097	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2098	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2099	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2100	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2101
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2102	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2103
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2104	return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2105	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2106
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2107	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2108
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2109	/** Clears the PDO assignment.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2110	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2111	static int ec_ioctl_sc_clear_pdos(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2112	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2113	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2114	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2115	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2116	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2117	ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2118	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2119
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2120	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2121	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2122
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2123	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2124	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2125
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2126	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2127	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2128
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2129	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2130	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2131	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2132	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2133
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2134	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2135
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2136	ecrt_slave_config_pdo_assign_clear(sc, data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2137	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2138	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2139
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2140	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2141
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2142	/** Add an entry to a PDO's mapping.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2143	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2144	static int ec_ioctl_sc_add_entry(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2145	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2146	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2147	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2148	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2149	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2150	ec_ioctl_add_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2151	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2152
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2153	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2154	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2155
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2156	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2157	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2158
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2159	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2160	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2161
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2162	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2163	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2164	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2165	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2166
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2167	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2168
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2169	return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2170	data.entry_index, data.entry_subindex, data.entry_bit_length);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2171	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2172
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2173	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2174
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2175	/** Clears the mapping of a PDO.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2176	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2177	static int ec_ioctl_sc_clear_entries(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2178	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2179	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2180	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2181	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2182	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2183	ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2184	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2185
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2186	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2187	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2188
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2189	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2190	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2191
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2192	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2193	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2194
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2195	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2196	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2197	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2198	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2199
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2200	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2201
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2202	ecrt_slave_config_pdo_mapping_clear(sc, data.index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2203	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2204	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2205
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2206	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2207
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2208	/** Registers a PDO entry.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2209	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2210	static int ec_ioctl_sc_reg_pdo_entry(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2211	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2212	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2213	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2214	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2215	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2216	ec_ioctl_reg_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2217	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2218	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2219	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2220
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2221	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2222	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2223
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2224	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2225	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2226
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2227	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2228	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2229
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2230	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2231	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2232	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2233	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2234
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2235	if (!(domain = ec_master_find_domain(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2236	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2237	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2238	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2239
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2240	up(&master->master_sem); /** \fixme sc or domain could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2241
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2242	ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2243	data.entry_subindex, domain, &data.bit_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2244
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2245	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2246	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2247
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2248	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2249	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2250
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2251	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2252
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2253	/** Sets the DC AssignActivate word and the sync signal times.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2254	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2255	static int ec_ioctl_sc_dc(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2256	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2257	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2258	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2259	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2260	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2261	ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2262	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2263
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2264	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2265	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2266
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2267	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2268	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2269
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2270	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2271	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2272
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2273	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2274	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2275	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2276	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2277
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2278	ecrt_slave_config_dc(sc, data.dc_assign_activate,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2279	data.dc_sync[0].cycle_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2280	data.dc_sync[0].shift_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2281	data.dc_sync[1].cycle_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2282	data.dc_sync[1].shift_time);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2283
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2284	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2285
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2286	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2287	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2288
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2289	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2290
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2291	/** Configures an SDO.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2292	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2293	static int ec_ioctl_sc_sdo(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2294	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2295	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2296	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2297	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2298	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2299	ec_ioctl_sc_sdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2300	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2301	uint8_t *sdo_data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2302	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2303
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2304	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2305	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2306
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2307	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2308	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2309
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2310	if (!data.size)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2311	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2312
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2313	if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2314	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2315	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2316
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2317	if (copy_from_user(sdo_data, (void __user *) data.data, data.size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2318	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2319	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2320	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2321
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2322	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2323	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2324	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2325	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2326
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2327	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2328	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2329	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2330	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2331	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2332
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2333	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2334
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2335	if (data.complete_access) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2336	ret = ecrt_slave_config_complete_sdo(sc,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2337	data.index, sdo_data, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2338	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2339	ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2340	data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2341	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2342	kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2343	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2344	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2345
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2346	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2347
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2348	/** Set the emergency ring buffer size.
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2349	*/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2350	static int ec_ioctl_sc_emerg_size(
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2351	ec_master_t master, /< EtherCAT master. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2352	void arg, /< ioctl() argument. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2353	ec_ioctl_context_t ctx /< Private data structure of file handle. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2354	)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2355	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2356	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2357	ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2358	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2359
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2360	if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2361	return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2362
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2363	if (copy_from_user(&io, (void __user *) arg, sizeof(io)))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2364	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2365
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2366	if (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2367	return -EINTR;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2368	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2369
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2370	if (!(sc = ec_master_get_config(master, io.config_index))) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2371	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2372	return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2373	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2374
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2375	ret = ecrt_slave_config_emerg_size(sc, io.size);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2376
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2377	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2378
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2379	return ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2380	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2381
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2382	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2383
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2384	/** Get an emergency message from the ring.
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2385	*/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2386	static int ec_ioctl_sc_emerg_pop(
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2387	ec_master_t master, /< EtherCAT master. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2388	void arg, /< ioctl() argument. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2389	ec_ioctl_context_t ctx /< Private data structure of file handle. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2390	)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2391	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2392	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2393	ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2394	u8 msg[EC_COE_EMERGENCY_MSG_SIZE];
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2395	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2396
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2397	if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2398	return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2399
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2400	if (copy_from_user(&io, (void __user *) arg, sizeof(io)))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2401	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2402
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2403	if (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2404	return -EINTR;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2405	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2406
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2407	if (!(sc = ec_master_get_config(master, io.config_index))) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2408	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2409	return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2410	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2411
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2412	ret = ecrt_slave_config_emerg_pop(sc, msg);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2413
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2414	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2415
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2416	if (ret < 0) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2417	return ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2418	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2419
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2420	if (copy_to_user((void __user *) io.target, msg, sizeof(msg))) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2421	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2422	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2423
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2424	return ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2425	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2426
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2427	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2428
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2429	/** Clear the emergency ring.
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2430	*/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2431	static int ec_ioctl_sc_emerg_clear(
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2432	ec_master_t master, /< EtherCAT master. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2433	void arg, /< ioctl() argument. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2434	ec_ioctl_context_t ctx /< Private data structure of file handle. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2435	)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2436	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2437	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2438	ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2439	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2440
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2441	if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2442	return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2443
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2444	if (copy_from_user(&io, (void __user *) arg, sizeof(io)))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2445	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2446
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2447	if (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2448	return -EINTR;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2449	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2450
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2451	if (!(sc = ec_master_get_config(master, io.config_index))) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2452	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2453	return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2454	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2455
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2456	ret = ecrt_slave_config_emerg_clear(sc);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2457
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2458	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2459
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2460	return ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2461	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2462
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2463	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2464
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2465	/** Get the number of emergency overruns.
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2466	*/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2467	static int ec_ioctl_sc_emerg_overruns(
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2468	ec_master_t master, /< EtherCAT master. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2469	void arg, /< ioctl() argument. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2470	ec_ioctl_context_t ctx /< Private data structure of file handle. /
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2471	)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2472	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2473	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2474	ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2475	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2476
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2477	if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2478	return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2479
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2480	if (copy_from_user(&io, (void __user *) arg, sizeof(io)))
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2481	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2482
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2483	if (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2484	return -EINTR;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2485	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2486
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2487	if (!(sc = ec_master_get_config(master, io.config_index))) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2488	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2489	return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2490	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2491
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2492	ret = ecrt_slave_config_emerg_overruns(sc);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2493
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2494	up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2495
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2496	if (ret < 0) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2497	return ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2498	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2499
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2500	io.overruns = ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2501
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2502	if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2503	return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2504	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2505
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2506	return 0;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2507	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2508
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2509	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	2510
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2511	/** Create an SDO request.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2512	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2513	static int ec_ioctl_sc_create_sdo_request(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2514	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2515	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2516	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2517	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2518	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2519	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2520	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2521	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2522
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2523	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2524	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2525
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2526	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2527	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2528	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2529
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2530	data.request_index = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2531
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2532	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2533	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2534
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2535	sc = ec_master_get_config(master, data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2536	if (!sc) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2537	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2538	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2539	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2540
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2541	list_for_each_entry(req, &sc->sdo_requests, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2542	data.request_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2543	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2544
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2545	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2546
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2547	req = ecrt_slave_config_create_sdo_request_err(sc, data.sdo_index,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2548	data.sdo_subindex, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2549	if (IS_ERR(req))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2550	return PTR_ERR(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2551
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2552	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2553	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2554
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2555	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2556	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2557
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2558	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2559
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2560	/** Create a register request.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2561	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2562	static int ec_ioctl_sc_create_reg_request(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2563	ec_master_t master, /< EtherCAT master. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2564	void arg, /< ioctl() argument. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2565	ec_ioctl_context_t ctx /< Private data structure of file handle. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2566	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2567	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2568	ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2569	ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2570	ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2571
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2572	if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2573	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2574	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2575
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2576	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2577	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2578	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2579
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2580	io.request_index = 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2581
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2582	if (down_interruptible(&master->master_sem)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2583	return -EINTR;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2584	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2585
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2586	sc = ec_master_get_config(master, io.config_index);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2587	if (!sc) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2588	up(&master->master_sem);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2589	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2590	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2591
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2592	list_for_each_entry(reg, &sc->reg_requests, list) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2593	io.request_index++;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2594	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2595
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2596	up(&master->master_sem); /** \fixme sc could be invalidated */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2597
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2598	reg = ecrt_slave_config_create_reg_request_err(sc, io.mem_size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2599	if (IS_ERR(reg)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2600	return PTR_ERR(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2601	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2602
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2603	if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2604	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2605	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2606
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2607	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2608	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2609
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2610	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	2611
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2612	/** Create a VoE handler.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2613	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2614	static int ec_ioctl_sc_create_voe_handler(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2615	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2616	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2617	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2618	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2619	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2620	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2621	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2622	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2623
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2624	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2625	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2626
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2627	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2628	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2629	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2630
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2631	data.voe_index = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2632
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2633	if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2634	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2635
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2636	sc = ec_master_get_config(master, data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2637	if (!sc) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2638	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2639	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2640	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2641
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2642	list_for_each_entry(voe, &sc->voe_handlers, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2643	data.voe_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2644	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2645
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2646	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2647
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2648	voe = ecrt_slave_config_create_voe_handler_err(sc, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2649	if (IS_ERR(voe))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2650	return PTR_ERR(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2651
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2652	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2653	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2654
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2655	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2656	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2657
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2658	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2659
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2660	/** Get the slave configuration's state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2661	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2662	static int ec_ioctl_sc_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2663	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2664	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2665	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2666	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2667	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2668	ec_ioctl_sc_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2669	const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2670	ec_slave_config_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2671
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2672	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2673	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2674
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2675	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2676	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2677	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2678
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2679	/* no locking of master_sem needed, because sc will not be deleted in the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2680	* meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2681
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2682	if (!(sc = ec_master_get_config_const(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2683	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2684	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2685
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2686	ecrt_slave_config_state(sc, &state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2687
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2688	if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2689	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2690
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2691	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2692	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2693
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2694	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2695
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2696	/** Configures an IDN.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2697	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2698	static int ec_ioctl_sc_idn(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2699	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2700	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2701	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2702	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2703	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2704	ec_ioctl_sc_idn_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2705	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2706	uint8_t *data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2707	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2708
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2709	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2710	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2711
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2712	if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2713	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2714
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2715	if (!ioctl.size)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2716	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2717
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2718	if (!(data = kmalloc(ioctl.size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2719	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2720	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2721
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2722	if (copy_from_user(data, (void __user *) ioctl.data, ioctl.size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2723	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2724	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2725	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2726
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2727	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2728	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2729	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2730	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2731
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2732	if (!(sc = ec_master_get_config(master, ioctl.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2733	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2734	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2735	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2736	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2737
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2738	up(&master->master_sem); /** \fixme sc could be invalidated */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2739
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2740	ret = ecrt_slave_config_idn(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2741	sc, ioctl.drive_no, ioctl.idn, ioctl.al_state, data, ioctl.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2742	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2743	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2744	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2745
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2746	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2747
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2748	/** Gets the domain's offset in the total process data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2749	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2750	static int ec_ioctl_domain_offset(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2751	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2752	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2753	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2754	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2755	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2756	int offset = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2757	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2758
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2759	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2760	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2761
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2762	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2763	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2764	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2765
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2766	list_for_each_entry(domain, &master->domains, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2767	if (domain->index == (unsigned int) arg) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2768	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2769	return offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2770	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2771	offset += ecrt_domain_size(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2772	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2773
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2774	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2775	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2776	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2777
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2778	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2779
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2780	/** Process the domain.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2781	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2782	static int ec_ioctl_domain_process(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2783	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2784	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2785	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2786	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2787	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2788	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2789
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2790	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2791	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2792
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2793	/* no locking of master_sem needed, because domain will not be deleted in
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2794	* the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2795
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2796	if (!(domain = ec_master_find_domain(master, (unsigned int) arg))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2797	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2798	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2799
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2800	ecrt_domain_process(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2801	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2802	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2803
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2804	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2805
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2806	/** Queue the domain.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2807	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2808	static int ec_ioctl_domain_queue(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2809	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2810	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2811	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2812	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2813	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2814	ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2815
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2816	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2817	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2818
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2819	/* no locking of master_sem needed, because domain will not be deleted in
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2820	* the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2821
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2822	if (!(domain = ec_master_find_domain(master, (unsigned int) arg))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2823	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2824	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2825
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2826	ecrt_domain_queue(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2827	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2828	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2829
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2830	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2831
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2832	/** Get the domain state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2833	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2834	static int ec_ioctl_domain_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2835	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2836	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2837	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2838	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2839	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2840	ec_ioctl_domain_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2841	const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2842	ec_domain_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2843
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2844	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2845	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2846
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2847	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2848	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2849	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2850
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2851	/* no locking of master_sem needed, because domain will not be deleted in
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2852	* the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2853
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2854	if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2855	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2856	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2857
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2858	ecrt_domain_state(domain, &state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2859
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2860	if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2861	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2862
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2863	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2864	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2865
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2866	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2867
2434 fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2868	/** Sets an SDO request's SDO index and subindex.
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2869	*/
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2870	static int ec_ioctl_sdo_request_index(
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2871	ec_master_t master, /< EtherCAT master. /
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2872	void arg, /< ioctl() argument. /
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2873	ec_ioctl_context_t ctx /< Private data structure of file handle. /
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2874	)
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2875	{
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2876	ec_ioctl_sdo_request_t data;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2877	ec_slave_config_t *sc;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2878	ec_sdo_request_t *req;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2879
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2880	if (unlikely(!ctx->requested))
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2881	return -EPERM;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2882
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2883	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2884	return -EFAULT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2885
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2886	/* no locking of master_sem needed, because neither sc nor req will not be
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2887	* deleted in the meantime. */
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2888
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2889	if (!(sc = ec_master_get_config(master, data.config_index))) {
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2890	return -ENOENT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2891	}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2892
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2893	if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2894	return -ENOENT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2895	}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2896
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2897	ecrt_sdo_request_index(req, data.sdo_index, data.sdo_subindex);
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2898	return 0;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2899	}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2900
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2901	/*****************************************************************************/
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	2902
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2903	/** Sets an SDO request's timeout.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2904	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2905	static int ec_ioctl_sdo_request_timeout(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2906	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2907	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2908	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2909	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2910	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2911	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2912	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2913	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2914
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2915	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2916	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2917
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2918	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2919	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2920
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2921	/* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2922	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2923
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2924	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2925	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2926	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2927
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2928	if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2929	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2930	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2931
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2932	ecrt_sdo_request_timeout(req, data.timeout);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2933	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2934	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2935
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2936	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2937
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2938	/** Gets an SDO request's state.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2939	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2940	static int ec_ioctl_sdo_request_state(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2941	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2942	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2943	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2944	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2945	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2946	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2947	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2948	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2949
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2950	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2951	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2952
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2953	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2954	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2955
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2956	/* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2957	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2958
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2959	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2960	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2961	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2962
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2963	if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2964	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2965	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2966
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2967	data.state = ecrt_sdo_request_state(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2968	if (data.state == EC_REQUEST_SUCCESS && req->dir == EC_DIR_INPUT)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2969	data.size = ecrt_sdo_request_data_size(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2970	else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2971	data.size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2972
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2973	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2974	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2975
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2976	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2977	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2978
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2979	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2980
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2981	/** Starts an SDO read operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2982	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2983	static int ec_ioctl_sdo_request_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2984	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2985	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2986	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2987	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2988	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2989	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2990	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2991	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2992
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2993	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2994	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2995
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2996	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2997	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2998
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2999	/* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3000	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3001
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3002	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3003	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3004	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3005
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3006	if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3007	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3008	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3009
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3010	ecrt_sdo_request_read(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3011	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3012	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3013
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3014	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3015
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3016	/** Starts an SDO write operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3017	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3018	static int ec_ioctl_sdo_request_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3019	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3020	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3021	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3022	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3023	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3024	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3025	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3026	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3027	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3028
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3029	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3030	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3031
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3032	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3033	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3034
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3035	if (!data.size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3036	EC_MASTER_ERR(master, "SDO download: Data size may not be zero!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3037	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3038	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3039
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3040	/* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3041	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3042
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3043	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3044	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3045	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3046
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3047	if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3048	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3049	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3050
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3051	ret = ec_sdo_request_alloc(req, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3052	if (ret)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3053	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3054
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3055	if (copy_from_user(req->data, (void __user *) data.data, data.size))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3056	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3057
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3058	req->data_size = data.size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3059	ecrt_sdo_request_write(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3060	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3061	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3062
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3063	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3064
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3065	/** Read SDO data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3066	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3067	static int ec_ioctl_sdo_request_data(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3068	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3069	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3070	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3071	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3072	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3073	ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3074	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3075	ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3076
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3077	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3078	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3079
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3080	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3081	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3082
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3083	/* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3084	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3085
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3086	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3087	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3088	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3089
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3090	if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3091	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3092	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3093
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3094	if (copy_to_user((void __user *) data.data, ecrt_sdo_request_data(req),
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3095	ecrt_sdo_request_data_size(req)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3096	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3097
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3098	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3099	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3100
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3101	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3102
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3103	/** Read register data.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3104	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3105	static int ec_ioctl_reg_request_data(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3106	ec_master_t master, /< EtherCAT master. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3107	void arg, /< ioctl() argument. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3108	ec_ioctl_context_t ctx /< Private data structure of file handle. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3109	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3110	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3111	ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3112	ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3113	ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3114
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3115	if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3116	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3117	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3118
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3119	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3120	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3121	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3122
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3123	if (io.mem_size <= 0) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3124	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3125	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3126
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3127	/* no locking of master_sem needed, because neither sc nor reg will not be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3128	* deleted in the meantime. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3129
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3130	if (!(sc = ec_master_get_config(master, io.config_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3131	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3132	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3133
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3134	if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3135	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3136	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3137
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3138	if (copy_to_user((void __user *) io.data, ecrt_reg_request_data(reg),
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3139	min(reg->mem_size, io.mem_size))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3140	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3141	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3142
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3143	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3144	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3145
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3146	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3147
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3148	/** Gets an register request's state.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3149	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3150	static int ec_ioctl_reg_request_state(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3151	ec_master_t master, /< EtherCAT master. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3152	void arg, /< ioctl() argument. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3153	ec_ioctl_context_t ctx /< Private data structure of file handle. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3154	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3155	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3156	ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3157	ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3158	ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3159
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3160	if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3161	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3162	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3163
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3164	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3165	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3166	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3167
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3168	/* no locking of master_sem needed, because neither sc nor reg will not be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3169	* deleted in the meantime. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3170
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3171	if (!(sc = ec_master_get_config(master, io.config_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3172	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3173	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3174
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3175	if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3176	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3177	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3178
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3179	io.state = ecrt_reg_request_state(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3180	io.new_data = io.state == EC_REQUEST_SUCCESS && reg->dir == EC_DIR_INPUT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3181
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3182	if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3183	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3184	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3185
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3186	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3187	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3188
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3189	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3190
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3191	/** Starts an register write operation.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3192	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3193	static int ec_ioctl_reg_request_write(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3194	ec_master_t master, /< EtherCAT master. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3195	void arg, /< ioctl() argument. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3196	ec_ioctl_context_t ctx /< Private data structure of file handle. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3197	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3198	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3199	ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3200	ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3201	ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3202
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3203	if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3204	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3205	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3206
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3207	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3208	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3209	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3210
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3211	/* no locking of master_sem needed, because neither sc nor reg will not be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3212	* deleted in the meantime. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3213
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3214	if (!(sc = ec_master_get_config(master, io.config_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3215	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3216	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3217
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3218	if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3219	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3220	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3221
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3222	if (io.transfer_size > reg->mem_size) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3223	return -EOVERFLOW;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3224	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3225
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3226	if (copy_from_user(reg->data, (void __user *) io.data,
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3227	io.transfer_size)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3228	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3229	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3230
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3231	ecrt_reg_request_write(reg, io.address, io.transfer_size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3232	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3233	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3234
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3235	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3236
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3237	/** Starts an register read operation.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3238	*/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3239	static int ec_ioctl_reg_request_read(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3240	ec_master_t master, /< EtherCAT master. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3241	void arg, /< ioctl() argument. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3242	ec_ioctl_context_t ctx /< Private data structure of file handle. /
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3243	)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3244	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3245	ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3246	ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3247	ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3248
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3249	if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3250	return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3251	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3252
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3253	if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3254	return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3255	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3256
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3257	/* no locking of master_sem needed, because neither sc nor reg will not be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3258	* deleted in the meantime. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3259
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3260	if (!(sc = ec_master_get_config(master, io.config_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3261	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3262	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3263
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3264	if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3265	return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3266	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3267
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3268	if (io.transfer_size > reg->mem_size) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3269	return -EOVERFLOW;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3270	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3271
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3272	ecrt_reg_request_read(reg, io.address, io.transfer_size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3273	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3274	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3275
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3276	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3277
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3278	/** Sets the VoE send header.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3279	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3280	static int ec_ioctl_voe_send_header(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3281	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3282	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3283	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3284	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3285	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3286	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3287	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3288	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3289	uint32_t vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3290	uint16_t vendor_type;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3291
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3292	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3293	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3294
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3295	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3296	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3297
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3298	if (get_user(vendor_id, data.vendor_id))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3299	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3300
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3301	if (get_user(vendor_type, data.vendor_type))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3302	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3303
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3304	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3305	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3306
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3307	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3308	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3309	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3310
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3311	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3312	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3313	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3314
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3315	ecrt_voe_handler_send_header(voe, vendor_id, vendor_type);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3316	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3317	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3318
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3319	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3320
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3321	/** Gets the received VoE header.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3322	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3323	static int ec_ioctl_voe_rec_header(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3324	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3325	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3326	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3327	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3328	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3329	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3330	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3331	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3332	uint32_t vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3333	uint16_t vendor_type;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3334
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3335	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3336	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3337
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3338	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3339	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3340
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3341	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3342	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3343
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3344	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3345	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3346	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3347
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3348	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3349	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3350	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3351
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3352	ecrt_voe_handler_received_header(voe, &vendor_id, &vendor_type);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3353
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3354	if (likely(data.vendor_id))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3355	if (put_user(vendor_id, data.vendor_id))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3356	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3357
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3358	if (likely(data.vendor_type))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3359	if (put_user(vendor_type, data.vendor_type))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3360	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3361
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3362	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3363	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3364
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3365	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3366
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3367	/** Starts a VoE read operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3368	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3369	static int ec_ioctl_voe_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3370	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3371	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3372	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3373	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3374	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3375	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3376	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3377	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3378
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3379	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3380	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3381
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3382	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3383	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3384
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3385	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3386	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3387
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3388	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3389	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3390	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3391
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3392	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3393	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3394	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3395
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3396	ecrt_voe_handler_read(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3397	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3398	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3399
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3400	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3401
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3402	/** Starts a VoE read operation without sending a sync message first.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3403	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3404	static int ec_ioctl_voe_read_nosync(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3405	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3406	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3407	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3408	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3409	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3410	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3411	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3412	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3413
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3414	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3415	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3416
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3417	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3418	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3419
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3420	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3421	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3422
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3423	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3424	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3425	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3426
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3427	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3428	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3429	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3430
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3431	ecrt_voe_handler_read_nosync(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3432	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3433	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3434
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3435	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3436
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3437	/** Starts a VoE write operation.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3438	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3439	static int ec_ioctl_voe_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3440	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3441	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3442	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3443	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3444	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3445	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3446	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3447	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3448
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3449	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3450	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3451
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3452	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3453	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3454
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3455	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3456	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3457
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3458	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3459	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3460	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3461
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3462	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3463	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3464	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3465
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3466	if (data.size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3467	if (data.size > ec_voe_handler_mem_size(voe))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3468	return -EOVERFLOW;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3469
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3470	if (copy_from_user(ecrt_voe_handler_data(voe),
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3471	(void __user *) data.data, data.size))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3472	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3473	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3474
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3475	ecrt_voe_handler_write(voe, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3476	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3477	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3478
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3479	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3480
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3481	/** Executes the VoE state machine.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3482	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3483	static int ec_ioctl_voe_exec(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3484	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3485	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3486	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3487	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3488	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3489	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3490	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3491	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3492
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3493	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3494	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3495
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3496	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3497	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3498
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3499	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3500	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3501
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3502	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3503	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3504	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3505
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3506	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3507	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3508	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3509
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3510	data.state = ecrt_voe_handler_execute(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3511	if (data.state == EC_REQUEST_SUCCESS && voe->dir == EC_DIR_INPUT)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3512	data.size = ecrt_voe_handler_data_size(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3513	else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3514	data.size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3515
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3516	if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3517	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3518
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3519	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3520	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3521
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3522	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3523
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3524	/** Reads the received VoE data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3525	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3526	static int ec_ioctl_voe_data(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3527	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3528	void arg, /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3529	ec_ioctl_context_t ctx /< Private data structure of file handle. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3530	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3531	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3532	ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3533	ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3534	ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3535
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3536	if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3537	return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3538
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3539	if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3540	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3541
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3542	/* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3543	* deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3544
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3545	if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3546	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3547	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3548
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3549	if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3550	return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3551	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3552
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3553	if (copy_to_user((void __user *) data.data, ecrt_voe_handler_data(voe),
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3554	ecrt_voe_handler_data_size(voe)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3555	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3556
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3557	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3558	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3559
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3560	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3561
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3562	/** Read a file from a slave via FoE.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3563	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3564	static int ec_ioctl_slave_foe_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3565	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3566	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3567	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3568	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3569	ec_ioctl_slave_foe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3570	ec_master_foe_request_t request;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3571	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3572
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3573	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3574	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3575	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3576
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3577	ec_foe_request_init(&request.req, data.file_name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3578	ec_foe_request_read(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3579	ec_foe_request_alloc(&request.req, 10000); // FIXME
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3580
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3581	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3582	ec_foe_request_clear(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3583	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3584	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3585
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3586	if (!(request.slave = ec_master_find_slave(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3587	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3588	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3589	ec_foe_request_clear(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3590	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3591	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3592	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3593	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3594
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3595	// schedule request.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3596	list_add_tail(&request.list, &request.slave->foe_requests);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3597
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3598	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3599
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3600	EC_SLAVE_DBG(request.slave, 1, "Scheduled FoE read request.\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3601
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3602	// wait for processing through FSM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3603	if (wait_event_interruptible(request.slave->foe_queue,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3604	request.req.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3605	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3606	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3607	if (request.req.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3608	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3609	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3610	ec_foe_request_clear(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3611	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3612	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3613	// request already processing: interrupt not possible.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3614	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3615	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3616
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3617	// wait until master FSM has finished processing
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3618	wait_event(request.slave->foe_queue,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3619	request.req.state != EC_INT_REQUEST_BUSY);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3620
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3621	data.result = request.req.result;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3622	data.error_code = request.req.error_code;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3623
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3624	EC_SLAVE_DBG(request.slave, 1, "Read %zd bytes via FoE"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3625	" (result = 0x%x).\n", request.req.data_size, request.req.result);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3626
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3627	if (request.req.state != EC_INT_REQUEST_SUCCESS) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3628	data.data_size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3629	retval = -EIO;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3630	} else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3631	if (request.req.data_size > data.buffer_size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3632	EC_MASTER_ERR(master, "Buffer too small.\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3633	ec_foe_request_clear(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3634	return -EOVERFLOW;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3635	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3636	data.data_size = request.req.data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3637	if (copy_to_user((void __user *) data.buffer,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3638	request.req.buffer, data.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3639	ec_foe_request_clear(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3640	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3641	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3642	retval = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3643	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3644
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3645	if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3646	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3647	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3648
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3649	EC_SLAVE_DBG(request.slave, 1, "Finished FoE read request.\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3650
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3651	ec_foe_request_clear(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3652
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3653	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3654	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3655
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3656	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3657
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3658	/** Write a file to a slave via FoE
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3659	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3660	static int ec_ioctl_slave_foe_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3661	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3662	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3663	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3664	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3665	ec_ioctl_slave_foe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3666	ec_master_foe_request_t request;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3667	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3668
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3669	if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3670	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3671	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3672
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3673	INIT_LIST_HEAD(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3674
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3675	ec_foe_request_init(&request.req, data.file_name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3676
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3677	if (ec_foe_request_alloc(&request.req, data.buffer_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3678	ec_foe_request_clear(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3679	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3680	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3681	if (copy_from_user(request.req.buffer,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3682	(void __user *) data.buffer, data.buffer_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3683	ec_foe_request_clear(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3684	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3685	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3686	request.req.data_size = data.buffer_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3687	ec_foe_request_write(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3688
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3689	if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3690	ec_foe_request_clear(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3691	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3692	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3693
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3694	if (!(request.slave = ec_master_find_slave(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3695	master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3696	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3697	EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3698	data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3699	ec_foe_request_clear(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3700	return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3701	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3702
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3703	EC_SLAVE_DBG(request.slave, 1, "Scheduling FoE write request.\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3704
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3705	// schedule FoE write request.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3706	list_add_tail(&request.list, &request.slave->foe_requests);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3707
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3708	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3709
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3710	// wait for processing through FSM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3711	if (wait_event_interruptible(request.slave->foe_queue,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3712	request.req.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3713	// interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3714	down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3715	if (request.req.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3716	// abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3717	list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3718	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3719	ec_foe_request_clear(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3720	return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3721	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3722	up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3723	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3724
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3725	// wait until master FSM has finished processing
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3726	wait_event(request.slave->foe_queue,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3727	request.req.state != EC_INT_REQUEST_BUSY);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3728
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3729	data.result = request.req.result;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3730	data.error_code = request.req.error_code;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3731
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3732	retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3733
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3734	if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3735	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3736	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3737
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3738	ec_foe_request_clear(&request.req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3739
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3740	EC_SLAVE_DBG(request.slave, 1, "Finished FoE write request.\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3741
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3742	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3743	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3744
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3745	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3746
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3747	/** Read an SoE IDN.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3748	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3749	static int ec_ioctl_slave_soe_read(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3750	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3751	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3752	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3753	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3754	ec_ioctl_slave_soe_read_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3755	u8 *data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3756	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3757
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3758	if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3759	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3760	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3761
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3762	data = kmalloc(ioctl.mem_size, GFP_KERNEL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3763	if (!data) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3764	EC_MASTER_ERR(master, "Failed to allocate %u bytes of IDN data.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3765	ioctl.mem_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3766	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3767	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3768
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3769	retval = ecrt_master_read_idn(master, ioctl.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3770	ioctl.drive_no, ioctl.idn, data, ioctl.mem_size, &ioctl.data_size,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3771	&ioctl.error_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3772	if (retval) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3773	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3774	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3775	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3776
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3777	if (copy_to_user((void __user *) ioctl.data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3778	data, ioctl.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3779	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3780	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3781	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3782	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3783
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3784	if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3785	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3786	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3787
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3788	EC_MASTER_DBG(master, 1, "Finished SoE read request.\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3789	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3790	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3791
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3792	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3793
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3794	/** Write an IDN to a slave via SoE.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3795	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3796	static int ec_ioctl_slave_soe_write(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3797	ec_master_t master, /< EtherCAT master. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3798	void arg /< ioctl() argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3799	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3800	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3801	ec_ioctl_slave_soe_write_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3802	u8 *data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3803	int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3804
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3805	if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3806	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3807	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3808
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3809	data = kmalloc(ioctl.data_size, GFP_KERNEL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3810	if (!data) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3811	EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3812	ioctl.data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3813	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3814	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3815	if (copy_from_user(data, (void __user *) ioctl.data, ioctl.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3816	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3817	return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3818	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3819
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3820	retval = ecrt_master_write_idn(master, ioctl.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3821	ioctl.drive_no, ioctl.idn, data, ioctl.data_size,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3822	&ioctl.error_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3823	kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3824	if (retval) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3825	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3826	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3827
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3828	if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3829	retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3830	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3831
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3832	EC_MASTER_DBG(master, 1, "Finished SoE write request.\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3833	return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3834	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3835
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3836	/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3837
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3838	#ifdef EC_IOCTL_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3839	#define EC_IOCTL ec_ioctl_rtdm
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3840	#else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3841	#define EC_IOCTL ec_ioctl
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3842	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3843
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3844	/** Called when an ioctl() command is issued.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3845	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3846	long EC_IOCTL(ec_master_t master, ec_ioctl_context_t ctx,
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	3847	unsigned int cmd, void *arg)
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3848	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3849	#if DEBUG_LATENCY
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3850	cycles_t a = get_cycles(), b;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3851	unsigned int t;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3852	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3853	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3854
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3855	switch (cmd) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3856	case EC_IOCTL_MODULE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3857	ret = ec_ioctl_module(arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3858	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3859	case EC_IOCTL_MASTER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3860	ret = ec_ioctl_master(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3861	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3862	case EC_IOCTL_SLAVE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3863	ret = ec_ioctl_slave(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3864	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3865	case EC_IOCTL_SLAVE_SYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3866	ret = ec_ioctl_slave_sync(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3867	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3868	case EC_IOCTL_SLAVE_SYNC_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3869	ret = ec_ioctl_slave_sync_pdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3870	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3871	case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3872	ret = ec_ioctl_slave_sync_pdo_entry(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3873	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3874	case EC_IOCTL_DOMAIN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3875	ret = ec_ioctl_domain(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3876	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3877	case EC_IOCTL_DOMAIN_FMMU:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3878	ret = ec_ioctl_domain_fmmu(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3879	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3880	case EC_IOCTL_DOMAIN_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3881	ret = ec_ioctl_domain_data(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3882	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3883	case EC_IOCTL_MASTER_DEBUG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3884	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3885	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3886	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3887	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3888	ret = ec_ioctl_master_debug(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3889	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3890	case EC_IOCTL_MASTER_RESCAN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3891	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3892	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3893	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3894	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3895	ret = ec_ioctl_master_rescan(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3896	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3897	case EC_IOCTL_SLAVE_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3898	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3899	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3900	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3901	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3902	ret = ec_ioctl_slave_state(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3903	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3904	case EC_IOCTL_SLAVE_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3905	ret = ec_ioctl_slave_sdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3906	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3907	case EC_IOCTL_SLAVE_SDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3908	ret = ec_ioctl_slave_sdo_entry(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3909	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3910	case EC_IOCTL_SLAVE_SDO_UPLOAD:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3911	ret = ec_ioctl_slave_sdo_upload(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3912	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3913	case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3914	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3915	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3916	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3917	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3918	ret = ec_ioctl_slave_sdo_download(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3919	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3920	case EC_IOCTL_SLAVE_SII_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3921	ret = ec_ioctl_slave_sii_read(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3922	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3923	case EC_IOCTL_SLAVE_SII_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3924	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3925	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3926	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3927	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3928	ret = ec_ioctl_slave_sii_write(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3929	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3930	case EC_IOCTL_SLAVE_REG_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3931	ret = ec_ioctl_slave_reg_read(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3932	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3933	case EC_IOCTL_SLAVE_REG_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3934	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3935	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3936	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3937	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3938	ret = ec_ioctl_slave_reg_write(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3939	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3940	case EC_IOCTL_SLAVE_FOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3941	ret = ec_ioctl_slave_foe_read(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3942	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3943	case EC_IOCTL_SLAVE_FOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3944	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3945	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3946	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3947	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3948	ret = ec_ioctl_slave_foe_write(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3949	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3950	case EC_IOCTL_SLAVE_SOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3951	ret = ec_ioctl_slave_soe_read(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3952	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3953	case EC_IOCTL_SLAVE_SOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3954	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3955	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3956	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3957	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3958	ret = ec_ioctl_slave_soe_write(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3959	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3960	case EC_IOCTL_CONFIG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3961	ret = ec_ioctl_config(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3962	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3963	case EC_IOCTL_CONFIG_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3964	ret = ec_ioctl_config_pdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3965	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3966	case EC_IOCTL_CONFIG_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3967	ret = ec_ioctl_config_pdo_entry(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3968	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3969	case EC_IOCTL_CONFIG_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3970	ret = ec_ioctl_config_sdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3971	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3972	case EC_IOCTL_CONFIG_IDN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3973	ret = ec_ioctl_config_idn(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3974	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3975	#ifdef EC_EOE
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3976	case EC_IOCTL_EOE_HANDLER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3977	ret = ec_ioctl_eoe_handler(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3978	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3979	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3980	case EC_IOCTL_REQUEST:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3981	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3982	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3983	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3984	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3985	ret = ec_ioctl_request(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3986	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3987	case EC_IOCTL_CREATE_DOMAIN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3988	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3989	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3990	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3991	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3992	ret = ec_ioctl_create_domain(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3993	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3994	case EC_IOCTL_CREATE_SLAVE_CONFIG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3995	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3996	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3997	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3998	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3999	ret = ec_ioctl_create_slave_config(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4000	break;
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4001	case EC_IOCTL_SELECT_REF_CLOCK:
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4002	if (!ctx->writable) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4003	ret = -EPERM;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4004	break;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4005	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4006	ret = ec_ioctl_select_ref_clock(master, arg, ctx);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4007	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4008	case EC_IOCTL_ACTIVATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4009	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4010	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4011	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4012	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4013	ret = ec_ioctl_activate(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4014	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4015	case EC_IOCTL_DEACTIVATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4016	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4017	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4018	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4019	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4020	ret = ec_ioctl_deactivate(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4021	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4022	case EC_IOCTL_SEND:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4023	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4024	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4025	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4026	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4027	ret = ec_ioctl_send(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4028	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4029	case EC_IOCTL_RECEIVE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4030	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4031	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4032	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4033	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4034	ret = ec_ioctl_receive(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4035	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4036	case EC_IOCTL_MASTER_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4037	ret = ec_ioctl_master_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4038	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4039	case EC_IOCTL_MASTER_LINK_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4040	ret = ec_ioctl_master_link_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4041	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4042	case EC_IOCTL_APP_TIME:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4043	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4044	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4045	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4046	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4047	ret = ec_ioctl_app_time(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4048	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4049	case EC_IOCTL_SYNC_REF:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4050	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4051	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4052	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4053	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4054	ret = ec_ioctl_sync_ref(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4055	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4056	case EC_IOCTL_SYNC_SLAVES:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4057	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4058	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4059	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4060	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4061	ret = ec_ioctl_sync_slaves(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4062	break;
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4063	case EC_IOCTL_REF_CLOCK_TIME:
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4064	if (!ctx->writable) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4065	ret = -EPERM;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4066	break;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4067	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4068	ret = ec_ioctl_ref_clock_time(master, arg, ctx);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	4069	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4070	case EC_IOCTL_SYNC_MON_QUEUE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4071	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4072	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4073	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4074	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4075	ret = ec_ioctl_sync_mon_queue(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4076	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4077	case EC_IOCTL_SYNC_MON_PROCESS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4078	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4079	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4080	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4081	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4082	ret = ec_ioctl_sync_mon_process(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4083	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4084	case EC_IOCTL_RESET:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4085	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4086	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4087	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4088	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4089	ret = ec_ioctl_reset(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4090	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4091	case EC_IOCTL_SC_SYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4092	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4093	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4094	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4095	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4096	ret = ec_ioctl_sc_sync(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4097	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4098	case EC_IOCTL_SC_WATCHDOG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4099	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4100	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4101	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4102	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4103	ret = ec_ioctl_sc_watchdog(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4104	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4105	case EC_IOCTL_SC_ADD_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4106	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4107	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4108	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4109	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4110	ret = ec_ioctl_sc_add_pdo(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4111	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4112	case EC_IOCTL_SC_CLEAR_PDOS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4113	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4114	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4115	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4116	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4117	ret = ec_ioctl_sc_clear_pdos(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4118	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4119	case EC_IOCTL_SC_ADD_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4120	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4121	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4122	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4123	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4124	ret = ec_ioctl_sc_add_entry(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4125	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4126	case EC_IOCTL_SC_CLEAR_ENTRIES:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4127	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4128	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4129	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4130	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4131	ret = ec_ioctl_sc_clear_entries(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4132	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4133	case EC_IOCTL_SC_REG_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4134	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4135	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4136	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4137	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4138	ret = ec_ioctl_sc_reg_pdo_entry(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4139	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4140	case EC_IOCTL_SC_DC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4141	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4142	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4143	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4144	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4145	ret = ec_ioctl_sc_dc(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4146	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4147	case EC_IOCTL_SC_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4148	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4149	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4150	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4151	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4152	ret = ec_ioctl_sc_sdo(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4153	break;
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4154	case EC_IOCTL_SC_EMERG_SIZE:
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4155	if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4156	ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4157	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4158	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4159	ret = ec_ioctl_sc_emerg_size(master, arg, ctx);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4160	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4161	case EC_IOCTL_SC_EMERG_POP:
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4162	if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4163	ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4164	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4165	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4166	ret = ec_ioctl_sc_emerg_pop(master, arg, ctx);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4167	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4168	case EC_IOCTL_SC_EMERG_CLEAR:
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4169	if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4170	ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4171	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4172	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4173	ret = ec_ioctl_sc_emerg_clear(master, arg, ctx);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4174	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4175	case EC_IOCTL_SC_EMERG_OVERRUNS:
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4176	if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4177	ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4178	break;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4179	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4180	ret = ec_ioctl_sc_emerg_overruns(master, arg, ctx);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2435 diff changeset	4181	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4182	case EC_IOCTL_SC_SDO_REQUEST:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4183	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4184	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4185	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4186	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4187	ret = ec_ioctl_sc_create_sdo_request(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4188	break;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4189	case EC_IOCTL_SC_REG_REQUEST:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4190	if (!ctx->writable) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4191	ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4192	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4193	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4194	ret = ec_ioctl_sc_create_reg_request(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4195	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4196	case EC_IOCTL_SC_VOE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4197	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4198	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4199	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4200	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4201	ret = ec_ioctl_sc_create_voe_handler(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4202	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4203	case EC_IOCTL_SC_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4204	ret = ec_ioctl_sc_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4205	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4206	case EC_IOCTL_SC_IDN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4207	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4208	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4209	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4210	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4211	ret = ec_ioctl_sc_idn(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4212	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4213	case EC_IOCTL_DOMAIN_OFFSET:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4214	ret = ec_ioctl_domain_offset(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4215	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4216	case EC_IOCTL_DOMAIN_PROCESS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4217	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4218	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4219	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4220	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4221	ret = ec_ioctl_domain_process(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4222	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4223	case EC_IOCTL_DOMAIN_QUEUE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4224	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4225	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4226	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4227	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4228	ret = ec_ioctl_domain_queue(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4229	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4230	case EC_IOCTL_DOMAIN_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4231	ret = ec_ioctl_domain_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4232	break;
2434 fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4233	case EC_IOCTL_SDO_REQUEST_INDEX:
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4234	if (!ctx->writable) {
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4235	ret = -EPERM;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4236	break;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4237	}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4238	ret = ec_ioctl_sdo_request_index(master, arg, ctx);
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	4239	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4240	case EC_IOCTL_SDO_REQUEST_TIMEOUT:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4241	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4242	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4243	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4244	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4245	ret = ec_ioctl_sdo_request_timeout(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4246	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4247	case EC_IOCTL_SDO_REQUEST_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4248	ret = ec_ioctl_sdo_request_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4249	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4250	case EC_IOCTL_SDO_REQUEST_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4251	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4252	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4253	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4254	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4255	ret = ec_ioctl_sdo_request_read(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4256	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4257	case EC_IOCTL_SDO_REQUEST_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4258	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4259	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4260	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4261	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4262	ret = ec_ioctl_sdo_request_write(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4263	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4264	case EC_IOCTL_SDO_REQUEST_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4265	ret = ec_ioctl_sdo_request_data(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4266	break;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4267	case EC_IOCTL_REG_REQUEST_DATA:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4268	ret = ec_ioctl_reg_request_data(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4269	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4270	case EC_IOCTL_REG_REQUEST_STATE:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4271	ret = ec_ioctl_reg_request_state(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4272	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4273	case EC_IOCTL_REG_REQUEST_WRITE:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4274	if (!ctx->writable) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4275	ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4276	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4277	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4278	ret = ec_ioctl_reg_request_write(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4279	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4280	case EC_IOCTL_REG_REQUEST_READ:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4281	if (!ctx->writable) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4282	ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4283	break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4284	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4285	ret = ec_ioctl_reg_request_read(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	4286	break;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4287	case EC_IOCTL_VOE_SEND_HEADER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4288	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4289	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4290	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4291	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4292	ret = ec_ioctl_voe_send_header(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4293	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4294	case EC_IOCTL_VOE_REC_HEADER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4295	ret = ec_ioctl_voe_rec_header(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4296	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4297	case EC_IOCTL_VOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4298	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4299	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4300	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4301	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4302	ret = ec_ioctl_voe_read(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4303	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4304	case EC_IOCTL_VOE_READ_NOSYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4305	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4306	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4307	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4308	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4309	ret = ec_ioctl_voe_read_nosync(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4310	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4311	case EC_IOCTL_VOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4312	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4313	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4314	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4315	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4316	ret = ec_ioctl_voe_write(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4317	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4318	case EC_IOCTL_VOE_EXEC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4319	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4320	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4321	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4322	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4323	ret = ec_ioctl_voe_exec(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4324	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4325	case EC_IOCTL_VOE_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4326	ret = ec_ioctl_voe_data(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4327	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4328	case EC_IOCTL_SET_SEND_INTERVAL:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4329	if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4330	ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4331	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4332	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4333	ret = ec_ioctl_set_send_interval(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4334	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4335	default:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4336	ret = -ENOTTY;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4337	break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4338	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4339
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4340	#if DEBUG_LATENCY
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4341	b = get_cycles();
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4342	t = (unsigned int) ((b - a) * 1000LL) / cpu_khz;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4343	if (t > 50) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4344	EC_MASTER_WARN(master, "ioctl(0x%02x) took %u us.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4345	_IOC_NR(cmd), t);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4346	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4347	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4348
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4349	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4350	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4351
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4352	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 30 Nov 2012 20:15:31 +0100
branch	stable-1.5
changeset 2453	d461b1f07296
parent 2447	e93efb4af231
child 2464	e6cc33cac6a2
permissions	-rw-r--r--