1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master character device.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/vmalloc.h>

    39

#include <linux/mm.h>

    40

    41

#include "cdev.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

#include "voe_handler.h"

    45

#include "ethernet.h"

    46

#include "ioctl.h"

    47

    48

/** Set to 1 to enable ioctl() command debugging.

    49

 */

    50

#define DEBUG_IOCTL 0

    51

    52

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

    53

    54

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

    55

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

    56

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

    57

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

    58

    59

/** This is the kernel version from which the .fault member of the

    60

 * vm_operations_struct is usable.

    61

 */

    62

#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)

    63

    64

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    65

static int eccdev_vma_fault(struct vm_area_struct *, struct vm_fault *);

    66

#else

    67

static struct page *eccdev_vma_nopage(

    68

        struct vm_area_struct *, unsigned long, int *);

    69

#endif

    70

    71

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

    72

    73

/** File operation callbacks for the EtherCAT character device.

    74

 */

    75

static struct file_operations eccdev_fops = {

    76

    .owner          = THIS_MODULE,

    77

    .open           = eccdev_open,

    78

    .release        = eccdev_release,

    79

    .unlocked_ioctl = eccdev_ioctl,

    80

    .mmap           = eccdev_mmap

    81

};

    82

    83

/** Callbacks for a virtual memory area retrieved with ecdevc_mmap().

    84

 */

    85

struct vm_operations_struct eccdev_vm_ops = {

    86

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    87

    .fault = eccdev_vma_fault

    88

#else

    89

    .nopage = eccdev_vma_nopage

    90

#endif

    91

};

    92

    93

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

    94

    95

/** Private data structure for file handles.

    96

 */

    97

typedef struct {

    98

    ec_cdev_t *cdev; /**< Character device. */

    99

    unsigned int requested; /**< Master wac requested via this file handle. */

   100

    uint8_t *process_data; /**< Total process data area. */

   101

    size_t process_data_size; /**< Size of the \a process_data. */

   102

} ec_cdev_priv_t;

   103

   104

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

   105

   106

/** Constructor.

   107

 * 

   108

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

   109

 */

   110

int ec_cdev_init(

   111

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

   112

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

   113

        dev_t dev_num /**< Device number. */

   114

        )

   115

{

   116

    int ret;

   117

   118

    cdev->master = master;

   119

   120

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

   121

    cdev->cdev.owner = THIS_MODULE;

   122

   123

    ret = cdev_add(&cdev->cdev,

   124

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

   125

    if (ret) {

   126

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

   127

    }

   128

   129

    return ret;

   130

}

   131

   132

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

   133

   134

/** Destructor.

   135

 */

   136

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

   137

{

   138

    cdev_del(&cdev->cdev);

   139

}

   140

   141

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

   142

   143

/** Copies a string to an ioctl structure.

   144

 */

   145

void ec_cdev_strcpy(

   146

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

   147

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

   148

        )

   149

{

   150

    if (source) {

   151

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   152

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   153

    } else {

   154

        target[0] = 0;

   155

    }

   156

}

   157

   158

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

   159

   160

/** Get master information.

   161

 */

   162

int ec_cdev_ioctl_master(

   163

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

   164

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

   165

        )

   166

{

   167

    ec_ioctl_master_t data;

   168

   169

    if (down_interruptible(&master->master_sem))

   170

        return -EINTR;

   171

    data.slave_count = master->slave_count;

   172

    data.config_count = ec_master_config_count(master);

   173

    data.domain_count = ec_master_domain_count(master);

   175

    data.eoe_handler_count = ec_master_eoe_handler_count(master);

   177

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

   178

    data.scan_busy = master->scan_busy;

   179

    up(&master->master_sem);

   180

   181

    if (down_interruptible(&master->device_sem))

   182

        return -EINTR;

   183

   184

    if (master->main_device.dev) {

   185

        memcpy(data.devices[0].address,

   186

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

   187

    } else {

   188

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

   189

    }

   190

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

   191

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

   192

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

   193

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

   194

   195

    if (master->backup_device.dev) {

   196

        memcpy(data.devices[1].address,

   197

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

   198

    } else {

   199

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

   200

    }

   201

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

   202

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

   203

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

   204

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

   205

   206

    up(&master->device_sem);

   207

   208

    data.app_time = master->app_time;

   209

    data.ref_clock =

   210

        master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff;

   211

   212

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

   213

        return -EFAULT;

   214

   215

    return 0;

   216

}

   217

   218

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

   219

   220

/** Get slave information.

   221

 */

   222

int ec_cdev_ioctl_slave(

   223

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

   224

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

   225

        )

   226

{

   227

    ec_ioctl_slave_t data;

   228

    const ec_slave_t *slave;

   229

    int i;

   230

   231

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

   232

        return -EFAULT;

   233

    }

   234

   235

    if (down_interruptible(&master->master_sem))

   236

        return -EINTR;

   237

   238

    if (!(slave = ec_master_find_slave_const(

   239

                    master, 0, data.position))) {

   240

        up(&master->master_sem);

   241

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

   242

        return -EINVAL;

   243

    }

   244

   245

    data.vendor_id = slave->sii.vendor_id;

   246

    data.product_code = slave->sii.product_code;

   247

    data.revision_number = slave->sii.revision_number;

   248

    data.serial_number = slave->sii.serial_number;

   249

    data.alias = slave->sii.alias;

   250

    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;

   251

    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;

   252

    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;

   253

    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;

   254

    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;

   255

    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;

   256

    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;

   257

    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;

   258

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   259

    data.has_general_category = slave->sii.has_general;

   260

    data.coe_details = slave->sii.coe_details;

   261

    data.general_flags = slave->sii.general_flags;

   262

    data.current_on_ebus = slave->sii.current_on_ebus;

   263

    for (i = 0; i < EC_MAX_PORTS; i++) {

   264

        data.ports[i].desc = slave->ports[i].desc;

   265

        data.ports[i].link.link_up = slave->ports[i].link.link_up;

   266

        data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed;

   267

        data.ports[i].link.signal_detected = slave->ports[i].link.signal_detected;

   268

        data.ports[i].receive_time = slave->ports[i].receive_time;

   269

        if (slave->ports[i].next_slave) {

   270

            data.ports[i].next_slave = slave->ports[i].next_slave->ring_position;

   271

        } else {

   272

            data.ports[i].next_slave = 0xffff;

   273

        }

   274

        data.ports[i].delay_to_next_dc = slave->ports[i].delay_to_next_dc;

   275

    }

   276

    data.fmmu_bit = slave->base_fmmu_bit_operation;

   277

    data.dc_supported = slave->base_dc_supported;

   278

    data.dc_range = slave->base_dc_range;

   279

    data.has_dc_system_time = slave->has_dc_system_time;

   280

    data.transmission_delay = slave->transmission_delay;

   281

    data.al_state = slave->current_state;

   282

    data.error_flag = slave->error_flag;

   283

   284

    data.sync_count = slave->sii.sync_count;

   285

    data.sdo_count = ec_slave_sdo_count(slave);

   286

    data.sii_nwords = slave->sii_nwords;

   287

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

   288

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

   289

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

   290

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

   291

   292

    up(&master->master_sem);

   293

   294

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

   295

        return -EFAULT;

   296

   297

    return 0;

   298

}

   299

   300

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

   301

   302

/** Get slave sync manager information.

   303

 */

   304

int ec_cdev_ioctl_slave_sync(

   305

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

   306

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

   307

        )

   308

{

   309

    ec_ioctl_slave_sync_t data;

   310

    const ec_slave_t *slave;

   311

    const ec_sync_t *sync;

   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

   336

    data.physical_start_address = sync->physical_start_address;

   337

    data.default_size = sync->default_length;

   338

    data.control_register = sync->control_register;

   339

    data.enable = sync->enable;

   340

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

   341

   342

    up(&master->master_sem);

   343

   344

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

   345

        return -EFAULT;

   346

   347

    return 0;

   348

}

   349

   350

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

   351

   352

/** Get slave sync manager PDO information.

   353

 */

   354

int ec_cdev_ioctl_slave_sync_pdo(

   355

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

   356

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

   357

        )

   358

{

   359

    ec_ioctl_slave_sync_pdo_t data;

   360

    const ec_slave_t *slave;

   361

    const ec_sync_t *sync;

   362

    const ec_pdo_t *pdo;

   363

   364

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

   365

        return -EFAULT;

   366

    }

   367

   368

    if (down_interruptible(&master->master_sem))

   369

        return -EINTR;

   370

   371

    if (!(slave = ec_master_find_slave_const(

   372

                    master, 0, data.slave_position))) {

   373

        up(&master->master_sem);

   374

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

   375

        return -EINVAL;

   376

    }

   377

   378

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

   379

        up(&master->master_sem);

   380

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

   381

                data.sync_index, data.slave_position);

   382

        return -EINVAL;

   383

    }

   384

   385

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

   386

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   387

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

   388

        up(&master->master_sem);

   389

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

   390

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

   391

                data.pdo_pos, data.slave_position);

   392

        return -EINVAL;

   393

    }

   394

   395

    data.index = pdo->index;

   396

    data.entry_count = ec_pdo_entry_count(pdo);

   397

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

   398

   399

    up(&master->master_sem);

   400

   401

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

   402

        return -EFAULT;

   403

   404

    return 0;

   405

}

   406

   407

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

   408

   409

/** Get slave sync manager PDO entry information.

   410

 */

   411

int ec_cdev_ioctl_slave_sync_pdo_entry(

   412

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

   413

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

   414

        )

   415

{

   416

    ec_ioctl_slave_sync_pdo_entry_t data;

   417

    const ec_slave_t *slave;

   418

    const ec_sync_t *sync;

   419

    const ec_pdo_t *pdo;

   420

    const ec_pdo_entry_t *entry;

   421

   422

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

   423

        return -EFAULT;

   424

    }

   425

   426

    if (down_interruptible(&master->master_sem))

   427

        return -EINTR;

   428

   429

    if (!(slave = ec_master_find_slave_const(

   430

                    master, 0, data.slave_position))) {

   431

        up(&master->master_sem);

   432

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

   433

        return -EINVAL;

   434

    }

   435

   436

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

   437

        up(&master->master_sem);

   438

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

   439

                data.sync_index, data.slave_position);

   440

        return -EINVAL;

   441

    }

   442

   443

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

   444

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   445

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

   446

        up(&master->master_sem);

   447

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

   448

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

   449

                data.pdo_pos, data.slave_position);

   450

        return -EINVAL;

   451

    }

   452

   453

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   454

                    pdo, data.entry_pos))) {

   455

        up(&master->master_sem);

   456

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

   457

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

   458

                data.entry_pos, data.slave_position);

   459

        return -EINVAL;

   460

    }

   461

   462

    data.index = entry->index;

   463

    data.subindex = entry->subindex;

   464

    data.bit_length = entry->bit_length;

   465

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

   466

   467

    up(&master->master_sem);

   468

   469

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

   470

        return -EFAULT;

   471

   472

    return 0;

   473

}

   474

   475

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

   476

   477

/** Get domain information.

   478

 */

   479

int ec_cdev_ioctl_domain(

   480

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

   481

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

   482

        )

   483

{

   484

    ec_ioctl_domain_t data;

   485

    const ec_domain_t *domain;

   486

   487

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

   488

        return -EFAULT;

   489

    }

   490

   491

    if (down_interruptible(&master->master_sem))

   492

        return -EINTR;

   493