1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT master character device.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

#include <linux/vmalloc.h>

    43

#include <linux/mm.h>

    44

    45

#include "cdev.h"

    46

#include "master.h"

    47

#include "slave_config.h"

    48

#include "voe_handler.h"

    49

#include "ioctl.h"

    50

    51

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

    52

    53

/** \cond */

    54

    55

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

    56

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

    57

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

    58

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

    59

    60

static struct page *eccdev_vma_nopage(

    61

        struct vm_area_struct *, unsigned long, int *);

    62

    63

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

    64

    65

static struct file_operations eccdev_fops = {

    66

    .owner          = THIS_MODULE,

    67

    .open           = eccdev_open,

    68

    .release        = eccdev_release,

    69

    .unlocked_ioctl = eccdev_ioctl,

    70

    .mmap           = eccdev_mmap

    71

};

    72

    73

struct vm_operations_struct eccdev_vm_ops = {

    74

    .nopage = eccdev_vma_nopage

    75

};

    76

    77

/** \endcond */

    78

    79

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

    80

    81

/** Private data structure for file handles.

    82

 */

    83

typedef struct {

    84

    ec_cdev_t *cdev;

    85

    unsigned int requested;

    86

    uint8_t *process_data;

    87

    size_t process_data_size;

    88

} ec_cdev_priv_t;

    89

    90

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

    91

    92

/** Constructor.

    93

 * 

    94

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

    95

 */

    96

int ec_cdev_init(

    97

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

    98

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

    99

		dev_t dev_num /**< Device number. */

   100

		)

   101

{

   102

    cdev->master = master;

   103

   104

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

   105

    cdev->cdev.owner = THIS_MODULE;

   106

   107

    if (cdev_add(&cdev->cdev,

   108

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

   109

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

   110

		return -1;

   111

    }

   112

   113

    return 0;

   114

}

   115

   116

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

   117

   118

/** Destructor.

   119

 */

   120

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

   121

{

   122

    cdev_del(&cdev->cdev);

   123

}

   124

   125

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

   126

   127

/** Copies a string to an ioctl structure.

   128

 */

   129

void ec_cdev_strcpy(

   130

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

   131

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

   132

        )

   133

{

   134

    if (source) {

   135

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   136

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   137

    } else {

   138

        target[0] = 0;

   139

    }

   140

}

   141

   142

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

   143

   144

/** Get master information.

   145

 */

   146

int ec_cdev_ioctl_master(

   147

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

   148

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

   149

        )

   150

{

   151

    ec_ioctl_master_t data;

   152

   153

    if (down_interruptible(&master->master_sem))

   154

        return -EINTR;

   155

    data.slave_count = master->slave_count;

   156

    data.config_count = ec_master_config_count(master);

   157

    data.domain_count = ec_master_domain_count(master);

   158

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

   159

    up(&master->master_sem);

   160

   161

    if (down_interruptible(&master->device_sem))

   162

        return -EINTR;

   163

    if (master->main_device.dev) {

   164

        memcpy(data.devices[0].address,

   165

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

   166

    } else {

   167

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

   168

    }

   169

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

   170

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

   171

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

   172

   173

    if (master->backup_device.dev) {

   174

        memcpy(data.devices[1].address,

   175

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

   176

    } else {

   177

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

   178

    }

   179

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

   180

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

   181

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

   182

    up(&master->device_sem);

   183

   184

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

   185

        return -EFAULT;

   186

   187

    return 0;

   188

}

   189

   190

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

   191

   192

/** Get slave information.

   193

 */

   194

int ec_cdev_ioctl_slave(

   195

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

   196

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

   197

        )

   198

{

   199

    ec_ioctl_slave_t data;

   200

    const ec_slave_t *slave;

   201

   202

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

   203

        return -EFAULT;

   204

    }

   205

   206

    if (down_interruptible(&master->master_sem))

   207

        return -EINTR;

   208

   209

    if (!(slave = ec_master_find_slave_const(

   210

                    master, 0, data.position))) {

   211

        up(&master->master_sem);

   212

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

   213

        return -EINVAL;

   214

    }

   215

   216

    data.vendor_id = slave->sii.vendor_id;

   217

    data.product_code = slave->sii.product_code;

   218

    data.revision_number = slave->sii.revision_number;

   219

    data.serial_number = slave->sii.serial_number;

   220

    data.alias = slave->sii.alias;

   221

    data.rx_mailbox_offset = slave->sii.rx_mailbox_offset;

   222

    data.rx_mailbox_size = slave->sii.rx_mailbox_size;

   223

    data.tx_mailbox_offset = slave->sii.tx_mailbox_offset;

   224

    data.tx_mailbox_size = slave->sii.tx_mailbox_size;

   225

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   226

    data.has_general_category = slave->sii.has_general;

   227

    data.coe_details = slave->sii.coe_details;

   228

    data.general_flags = slave->sii.general_flags;

   229

    data.current_on_ebus = slave->sii.current_on_ebus;

   230

    data.al_state = slave->current_state;

   231

    data.error_flag = slave->error_flag;

   232

   233

    data.sync_count = slave->sii.sync_count;

   234

    data.sdo_count = ec_slave_sdo_count(slave);

   235

    data.sii_nwords = slave->sii_nwords;

   236

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

   237

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

   238

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

   239

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

   240

   241

    up(&master->master_sem);

   242

   243

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

   244

        return -EFAULT;

   245

   246

    return 0;

   247

}

   248

   249

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

   250

   251

/** Get slave sync manager information.

   252

 */

   253

int ec_cdev_ioctl_slave_sync(

   254

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

   255

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

   256

        )

   257

{

   258

    ec_ioctl_slave_sync_t data;

   259

    const ec_slave_t *slave;

   260

    const ec_sync_t *sync;

   261

   262

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

   263

        return -EFAULT;

   264

    }

   265

   266

    if (down_interruptible(&master->master_sem))

   267

        return -EINTR;

   268

   269

    if (!(slave = ec_master_find_slave_const(

   270

                    master, 0, data.slave_position))) {

   271

        up(&master->master_sem);

   272

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

   273

        return -EINVAL;

   274

    }

   275

   276

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

   277

        up(&master->master_sem);

   278

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

   279

                data.sync_index, data.slave_position);

   280

        return -EINVAL;

   281

    }

   282

   283

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

   284

   285

    data.physical_start_address = sync->physical_start_address;

   286

    data.default_size = sync->default_length;

   287

    data.control_register = sync->control_register;

   288

    data.enable = sync->enable;

   289

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

   290

   291

    up(&master->master_sem);

   292

   293

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

   294

        return -EFAULT;

   295

   296

    return 0;

   297

}

   298

   299

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

   300

   301

/** Get slave sync manager Pdo information.

   302

 */

   303

int ec_cdev_ioctl_slave_sync_pdo(

   304

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

   305

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

   306

        )

   307

{

   308

    ec_ioctl_slave_sync_pdo_t data;

   309

    const ec_slave_t *slave;

   310

    const ec_sync_t *sync;

   311

    const ec_pdo_t *pdo;

   312

   313

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

   314

        return -EFAULT;

   315

    }

   316

   317

    if (down_interruptible(&master->master_sem))

   318

        return -EINTR;

   319

   320

    if (!(slave = ec_master_find_slave_const(

   321

                    master, 0, data.slave_position))) {

   322

        up(&master->master_sem);

   323

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

   324

        return -EINVAL;

   325

    }

   326

   327

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

   328

        up(&master->master_sem);

   329

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

   330

                data.sync_index, data.slave_position);

   331

        return -EINVAL;

   332

    }

   333

   334

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

   335

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   336

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

   337

        up(&master->master_sem);

   338

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

   339

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

   340

                data.pdo_pos, data.slave_position);

   341

        return -EINVAL;

   342

    }

   343

   344

    data.index = pdo->index;

   345

    data.entry_count = ec_pdo_entry_count(pdo);

   346

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

   347

   348

    up(&master->master_sem);

   349

   350

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

   351

        return -EFAULT;

   352

   353

    return 0;

   354

}

   355

   356

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

   357

   358

/** Get slave sync manager Pdo entry information.

   359

 */

   360

int ec_cdev_ioctl_slave_sync_pdo_entry(

   361

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

   362

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

   363

        )

   364

{

   365

    ec_ioctl_slave_sync_pdo_entry_t data;

   366

    const ec_slave_t *slave;

   367

    const ec_sync_t *sync;

   368

    const ec_pdo_t *pdo;

   369

    const ec_pdo_entry_t *entry;

   370

   371

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

   372

        return -EFAULT;

   373

    }

   374

   375

    if (down_interruptible(&master->master_sem))

   376

        return -EINTR;

   377

   378

    if (!(slave = ec_master_find_slave_const(

   379

                    master, 0, data.slave_position))) {

   380

        up(&master->master_sem);

   381

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

   382

        return -EINVAL;

   383

    }

   384

   385

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

   386

        up(&master->master_sem);

   387

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

   388

                data.sync_index, data.slave_position);

   389

        return -EINVAL;

   390

    }

   391

   392

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

   393

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   394

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

   395

        up(&master->master_sem);

   396

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

   397

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

   398

                data.pdo_pos, data.slave_position);

   399

        return -EINVAL;

   400

    }

   401

   402

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   403

                    pdo, data.entry_pos))) {

   404

        up(&master->master_sem);

   405

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

   406

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

   407

                data.entry_pos, data.slave_position);

   408

        return -EINVAL;

   409

    }

   410

   411

    data.index = entry->index;

   412

    data.subindex = entry->subindex;

   413

    data.bit_length = entry->bit_length;

   414

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

   415

   416

    up(&master->master_sem);

   417

   418

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

   419

        return -EFAULT;

   420

   421

    return 0;

   422

}

   423

   424

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

   425

   426

/** Get domain information.

   427

 */

   428

int ec_cdev_ioctl_domain(

   429

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

   430

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

   431

        )

   432

{

   433

    ec_ioctl_domain_t data;

   434

    const ec_domain_t *domain;

   435

   436

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

   437

        return -EFAULT;

   438

    }

   439

   440

    if (down_interruptible(&master->master_sem))

   441

        return -EINTR;

   442

   443

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

   444

        up(&master->master_sem);

   445

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

   446

        return -EINVAL;

   447

    }

   448

   449

    data.data_size = domain->data_size;

   450

    data.logical_base_address = domain->logical_base_address;

   451

    data.working_counter = domain->working_counter;

   452

    data.expected_working_counter = domain->expected_working_counter;

   453

    data.fmmu_count = ec_domain_fmmu_count(domain);

   454

   455

    up(&master->master_sem);

   456

   457

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

   458

        return -EFAULT;

   459

   460

    return 0;

   461

}

   462

   463

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

   464

   465

/** Get domain FMMU information.

   466

 */

   467

int ec_cdev_ioctl_domain_fmmu(

   468

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

   469

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

   470

        )

   471

{

   472

    ec_ioctl_domain_fmmu_t data;

   473

    const ec_domain_t *domain;

   474

    const ec_fmmu_config_t *fmmu;

   475

   476

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

   477

        return -EFAULT;

   478

    }

   479

   480

    if (down_interruptible(&master->master_sem))

   481

        return -EINTR;

   482

   483

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

   484

        up(&master->master_sem);

   485

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

   486

        return -EINVAL;

   487

    }

   488

   489

    if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {

   490

        up(&master->master_sem);

   491

        EC_ERR("Domain %u has less than %u fmmu configurations.\n",

   492

                data.domain_index, data.fmmu_index + 1);

   493

        return -EINVAL;

   494

    }

   495

   496

    data.slave_config_alias = fmmu->sc->alias;

   497

    data.slave_config_position = fmmu->sc->position;

   498

    data.sync_index = fmmu->sync_index;

   499

    data.dir = fmmu->dir;