master/cdev.c
author Florian Pose <fp@igh-essen.com>
Mon, 20 Apr 2009 14:37:30 +0000
changeset 1409 eb1e2540cb02
parent 1401 96baef8a3162
child 1413 44c2b7c0ae1a
permissions -rw-r--r--
Updated graph for slave configuration FSM.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master character device.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/vmalloc.h>
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#include <linux/mm.h>
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#include "cdev.h"
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#include "master.h"
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#include "slave_config.h"
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#include "voe_handler.h"
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#include "ioctl.h"
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#define DEBUG_IOCTL 0
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/*****************************************************************************/
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static int eccdev_open(struct inode *, struct file *);
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static int eccdev_release(struct inode *, struct file *);
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static long eccdev_ioctl(struct file *, unsigned int, unsigned long);
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static int eccdev_mmap(struct file *, struct vm_area_struct *);
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/** This is the kernel version from which the .fault member of the
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 * vm_operations_struct is usable.
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 */
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#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)
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#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION
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static int eccdev_vma_fault(struct vm_area_struct *, struct vm_fault *);
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#else
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static struct page *eccdev_vma_nopage(
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        struct vm_area_struct *, unsigned long, int *);
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#endif
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/*****************************************************************************/
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/** File operation callbacks for the EtherCAT character device.
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 */
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static struct file_operations eccdev_fops = {
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    .owner          = THIS_MODULE,
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    .open           = eccdev_open,
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    .release        = eccdev_release,
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    .unlocked_ioctl = eccdev_ioctl,
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    .mmap           = eccdev_mmap
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};
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/** Callbacks for a virtual memory area retrieved with ecdevc_mmap().
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 */
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struct vm_operations_struct eccdev_vm_ops = {
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#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION
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    .fault = eccdev_vma_fault
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#else
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    .nopage = eccdev_vma_nopage
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#endif
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};
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/*****************************************************************************/
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/** Private data structure for file handles.
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 */
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typedef struct {
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    ec_cdev_t *cdev; /**< Character device. */
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    unsigned int requested; /**< Master wac requested via this file handle. */
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    uint8_t *process_data; /**< Total process data area. */
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    size_t process_data_size; /**< Size of the \a process_data. */
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} ec_cdev_priv_t;
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/*****************************************************************************/
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/** Constructor.
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 * 
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 * \return 0 in case of success, else < 0
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 */
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int ec_cdev_init(
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		ec_cdev_t *cdev, /**< EtherCAT master character device. */
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		ec_master_t *master, /**< Parent master. */
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		dev_t dev_num /**< Device number. */
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		)
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{
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    int ret;
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    cdev->master = master;
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    cdev_init(&cdev->cdev, &eccdev_fops);
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    cdev->cdev.owner = THIS_MODULE;
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    ret = cdev_add(&cdev->cdev,
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		 MKDEV(MAJOR(dev_num), master->index), 1);
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    if (ret) {
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		EC_ERR("Failed to add character device!\n");
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    }
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    return ret;
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_cdev_clear(ec_cdev_t *cdev /**< EtherCAT XML device */)
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{
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    cdev_del(&cdev->cdev);
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}
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/*****************************************************************************/
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/** Copies a string to an ioctl structure.
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 */
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void ec_cdev_strcpy(
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        char *target, /**< Target. */
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        const char *source /**< Source. */
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        )
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{
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    if (source) {
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        strncpy(target, source, EC_IOCTL_STRING_SIZE);
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        target[EC_IOCTL_STRING_SIZE - 1] = 0;
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    } else {
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        target[0] = 0;
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    }
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}
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/*****************************************************************************/
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/** Get master information.
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 */
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int ec_cdev_ioctl_master(
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        ec_master_t *master, /**< EtherCAT master. */
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        unsigned long arg /**< Userspace address to store the results. */
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        )
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{
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    ec_ioctl_master_t data;
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    if (down_interruptible(&master->master_sem))
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        return -EINTR;
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    data.slave_count = master->slave_count;
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    data.config_count = ec_master_config_count(master);
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    data.domain_count = ec_master_domain_count(master);
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    data.phase = (uint8_t) master->phase;
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    up(&master->master_sem);
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    if (down_interruptible(&master->device_sem))
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        return -EINTR;
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    if (master->main_device.dev) {
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        memcpy(data.devices[0].address,
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                master->main_device.dev->dev_addr, ETH_ALEN);
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    } else {
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        memcpy(data.devices[0].address, master->main_mac, ETH_ALEN); 
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    }
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    data.devices[0].attached = master->main_device.dev ? 1 : 0;
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    data.devices[0].link_state = master->main_device.link_state ? 1 : 0;
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    data.devices[0].tx_count = master->main_device.tx_count;
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    data.devices[0].rx_count = master->main_device.rx_count;
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    if (master->backup_device.dev) {
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        memcpy(data.devices[1].address,
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                master->backup_device.dev->dev_addr, ETH_ALEN); 
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    } else {
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        memcpy(data.devices[1].address, master->backup_mac, ETH_ALEN); 
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    }
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    data.devices[1].attached = master->backup_device.dev ? 1 : 0;
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    data.devices[1].link_state = master->backup_device.link_state ? 1 : 0;
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    data.devices[1].tx_count = master->backup_device.tx_count;
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    data.devices[1].rx_count = master->backup_device.rx_count;
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    up(&master->device_sem);
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   198
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    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
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        return -EFAULT;
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    return 0;
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}
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/*****************************************************************************/
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/** Get slave information.
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 */
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int ec_cdev_ioctl_slave(
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        ec_master_t *master, /**< EtherCAT master. */
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        unsigned long arg /**< Userspace address to store the results. */
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   212
        )
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{
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    ec_ioctl_slave_t data;
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    const ec_slave_t *slave;
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    int i;
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   217
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    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
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        return -EFAULT;
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    }
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   221
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    if (down_interruptible(&master->master_sem))
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        return -EINTR;
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   224
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   225
    if (!(slave = ec_master_find_slave_const(
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   226
                    master, 0, data.position))) {
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        up(&master->master_sem);
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        EC_ERR("Slave %u does not exist!\n", data.position);
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        return -EINVAL;
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   230
    }
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   231
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    data.vendor_id = slave->sii.vendor_id;
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    data.product_code = slave->sii.product_code;
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    data.revision_number = slave->sii.revision_number;
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    data.serial_number = slave->sii.serial_number;
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    data.alias = slave->sii.alias;
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    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;
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   238
    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;
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   239
    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;
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   240
    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;
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    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;
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    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;
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   243
    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;
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   244
    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;
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    data.mailbox_protocols = slave->sii.mailbox_protocols;
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   246
    data.has_general_category = slave->sii.has_general;
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   247
    data.coe_details = slave->sii.coe_details;
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   248
    data.general_flags = slave->sii.general_flags;
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   249
    data.current_on_ebus = slave->sii.current_on_ebus;
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    for (i = 0; i < EC_MAX_PORTS; i++) {
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   251
        data.ports[i] = slave->base_ports[i];
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    }
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    data.fmmu_bit = slave->base_fmmu_bit_operation;
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    data.dc_supported = slave->base_dc_supported;
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    data.dc_range = slave->base_dc_range;
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    data.al_state = slave->current_state;
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    data.error_flag = slave->error_flag;
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   258
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    data.sync_count = slave->sii.sync_count;
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    data.sdo_count = ec_slave_sdo_count(slave);
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   261
    data.sii_nwords = slave->sii_nwords;
1109
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   262
    ec_cdev_strcpy(data.group, slave->sii.group);
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   263
    ec_cdev_strcpy(data.image, slave->sii.image);
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   264
    ec_cdev_strcpy(data.order, slave->sii.order);
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   265
    ec_cdev_strcpy(data.name, slave->sii.name);
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   266
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   267
    up(&master->master_sem);
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   268
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   269
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
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   270
        return -EFAULT;
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   271
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   272
    return 0;
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   273
}
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   274
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   275
/*****************************************************************************/
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   276
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/** Get slave sync manager information.
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   278
 */
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   279
int ec_cdev_ioctl_slave_sync(
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        ec_master_t *master, /**< EtherCAT master. */
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        unsigned long arg /**< Userspace address to store the results. */
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   282
        )
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{
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    ec_ioctl_slave_sync_t data;
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    const ec_slave_t *slave;
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   286
    const ec_sync_t *sync;
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   287
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   288
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
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        return -EFAULT;
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   290
    }
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   291
1189
acc6430bfb32 Use down_interruptible() wherever possible.
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   292
    if (down_interruptible(&master->master_sem))
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   293
        return -EINTR;
1079
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   294
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   295
    if (!(slave = ec_master_find_slave_const(
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   296
                    master, 0, data.slave_position))) {
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   297
        up(&master->master_sem);
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   298
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
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   299
        return -EINVAL;
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   300
    }
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   301
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   302
    if (data.sync_index >= slave->sii.sync_count) {
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   303
        up(&master->master_sem);
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   304
        EC_ERR("Sync manager %u does not exist in slave %u!\n",
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   305
                data.sync_index, data.slave_position);
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   306
        return -EINVAL;
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   307
    }
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   308
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   309
    sync = &slave->sii.syncs[data.sync_index];
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   310
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   311
    data.physical_start_address = sync->physical_start_address;
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   312
    data.default_size = sync->default_length;
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   313
    data.control_register = sync->control_register;
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   314
    data.enable = sync->enable;
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   315
    data.pdo_count = ec_pdo_list_count(&sync->pdos);
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   316
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   317
    up(&master->master_sem);
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   318
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   319
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
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   320
        return -EFAULT;
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   321
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   322
    return 0;
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   323
}
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   324
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   325
/*****************************************************************************/
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   326
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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   327
/** Get slave sync manager PDO information.
1079
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   328
 */
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   329
int ec_cdev_ioctl_slave_sync_pdo(
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   330
        ec_master_t *master, /**< EtherCAT master. */
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   331
        unsigned long arg /**< Userspace address to store the results. */
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   332
        )
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diff changeset
   333
{
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diff changeset
   334
    ec_ioctl_slave_sync_pdo_t data;
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diff changeset
   335
    const ec_slave_t *slave;
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diff changeset
   336
    const ec_sync_t *sync;
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   337
    const ec_pdo_t *pdo;
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diff changeset
   338
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diff changeset
   339
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
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   340
        return -EFAULT;
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diff changeset
   341
    }
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diff changeset
   342
1189
acc6430bfb32 Use down_interruptible() wherever possible.
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diff changeset
   343
    if (down_interruptible(&master->master_sem))
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diff changeset
   344
        return -EINTR;
1079
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   345
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diff changeset
   346
    if (!(slave = ec_master_find_slave_const(
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diff changeset
   347
                    master, 0, data.slave_position))) {
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diff changeset
   348
        up(&master->master_sem);
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diff changeset
   349
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
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diff changeset
   350
        return -EINVAL;
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diff changeset
   351
    }
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diff changeset
   352
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diff changeset
   353
    if (data.sync_index >= slave->sii.sync_count) {
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diff changeset
   354
        up(&master->master_sem);
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diff changeset
   355
        EC_ERR("Sync manager %u does not exist in slave %u!\n",
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diff changeset
   356
                data.sync_index, data.slave_position);
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diff changeset
   357
        return -EINVAL;
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diff changeset
   358
    }
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   359
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   360
    sync = &slave->sii.syncs[data.sync_index];
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diff changeset
   361
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
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diff changeset
   362
                    &sync->pdos, data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   363
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
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diff changeset
   364
        EC_ERR("Sync manager %u does not contain a PDO with "
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   365
                "position %u in slave %u!\n", data.sync_index,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   366
                data.pdo_pos, data.slave_position);
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diff changeset
   367
        return -EINVAL;
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diff changeset
   368
    }
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diff changeset
   369
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diff changeset
   370
    data.index = pdo->index;
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diff changeset
   371
    data.entry_count = ec_pdo_entry_count(pdo);
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   372
    ec_cdev_strcpy(data.name, pdo->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   373
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   374
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   375
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   376
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   377
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   378
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   379
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   380
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   381
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   382
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   383
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   384
/** Get slave sync manager PDO entry information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   385
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   386
int ec_cdev_ioctl_slave_sync_pdo_entry(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   387
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   388
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   389
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   390
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   391
    ec_ioctl_slave_sync_pdo_entry_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   392
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   393
    const ec_sync_t *sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   394
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   395
    const ec_pdo_entry_t *entry;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   396
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   397
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   398
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   399
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   400
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   401
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   402
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   403
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   404
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   405
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   406
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   407
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   408
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   409
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   410
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   411
    if (data.sync_index >= slave->sii.sync_count) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   412
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   413
        EC_ERR("Sync manager %u does not exist in slave %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   414
                data.sync_index, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   415
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   416
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   417
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   418
    sync = &slave->sii.syncs[data.sync_index];
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   419
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   420
                    &sync->pdos, data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   421
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   422
        EC_ERR("Sync manager %u does not contain a PDO with "
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   423
                "position %u in slave %u!\n", data.sync_index,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   424
                data.pdo_pos, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   425
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   426
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   427
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   428
    if (!(entry = ec_pdo_find_entry_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   429
                    pdo, data.entry_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   430
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   431
        EC_ERR("PDO 0x%04X does not contain an entry with "
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   432
                "position %u in slave %u!\n", data.pdo_pos,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   433
                data.entry_pos, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   434
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   435
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   436
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   437
    data.index = entry->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   438
    data.subindex = entry->subindex;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   439
    data.bit_length = entry->bit_length;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   440
    ec_cdev_strcpy(data.name, entry->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   441
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   442
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   443
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   444
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   445
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   446
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   447
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   448
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   449
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   450
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   451
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   452
/** Get domain information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   453
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   454
int ec_cdev_ioctl_domain(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   455
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   456
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   457
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   458
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   459
    ec_ioctl_domain_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   460
    const ec_domain_t *domain;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   461
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   462
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   463
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   464
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   465
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   466
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   467
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   468
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   469
    if (!(domain = ec_master_find_domain_const(master, data.index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   470
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   471
        EC_ERR("Domain %u does not exist!\n", data.index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   472
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   473
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   474
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   475
    data.data_size = domain->data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   476
    data.logical_base_address = domain->logical_base_address;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   477
    data.working_counter = domain->working_counter;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   478
    data.expected_working_counter = domain->expected_working_counter;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   479
    data.fmmu_count = ec_domain_fmmu_count(domain);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   480
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   481
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   482
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   483
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   484
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   485
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   486
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   487
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   488
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   489
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   490
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   491
/** Get domain FMMU information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   492
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   493
int ec_cdev_ioctl_domain_fmmu(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   494
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   495
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   496
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   497
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   498
    ec_ioctl_domain_fmmu_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   499
    const ec_domain_t *domain;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   500
    const ec_fmmu_config_t *fmmu;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   501
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   502
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   503
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   504
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   505
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   506
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   507
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   508
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   509
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   510
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   511
        EC_ERR("Domain %u does not exist!\n", data.domain_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   512
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   513
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   514
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   515
    if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   516
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   517
        EC_ERR("Domain %u has less than %u fmmu configurations.\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   518
                data.domain_index, data.fmmu_index + 1);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   519
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   520
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   521
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   522
    data.slave_config_alias = fmmu->sc->alias;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   523
    data.slave_config_position = fmmu->sc->position;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   524
    data.sync_index = fmmu->sync_index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   525
    data.dir = fmmu->dir;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   526
    data.logical_address = fmmu->logical_start_address;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   527
    data.data_size = fmmu->data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   528
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   529
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   530
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   531
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   532
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   533
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   534
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   535
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   536
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   537
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   538
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   539
/** Get domain data.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   540
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   541
int ec_cdev_ioctl_domain_data(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   542
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   543
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   544
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   545
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   546
    ec_ioctl_domain_data_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   547
    const ec_domain_t *domain;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   548
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   549
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   550
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   551
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   552
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   553
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   554
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   555
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   556
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   557
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   558
        EC_ERR("Domain %u does not exist!\n", data.domain_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   559
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   560
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   561
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   562
    if (domain->data_size != data.data_size) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   563
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   564
        EC_ERR("Data size mismatch %u/%u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   565
                data.data_size, domain->data_size);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   566
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   567
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   568
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   569
    if (copy_to_user((void __user *) data.target, domain->data,
1223
6d539205114e Added missing up().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   570
                domain->data_size)) {
6d539205114e Added missing up().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   571
        up(&master->master_sem);
6d539205114e Added missing up().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   572
        return -EFAULT;
6d539205114e Added missing up().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   573
    }
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   574
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   575
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   576
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   577
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   578
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   579
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   580
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   581
/** Set master debug level.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   582
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   583
int ec_cdev_ioctl_master_debug(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   584
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   585
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   586
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   587
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   588
    return ec_master_debug_level(master, (unsigned int) arg);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   589
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   590
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   591
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   592
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   593
/** Set slave state.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   594
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   595
int ec_cdev_ioctl_slave_state(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   596
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   597
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   598
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   599
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   600
    ec_ioctl_slave_state_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   601
    ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   602
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   603
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   604
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   605
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   606
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   607
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   608
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   609
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   610
    if (!(slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   611
                    master, 0, data.slave_position))) {
1196
a27966f01b72 Fixed missing up().
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   612
        up(&master->master_sem);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   613
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   614
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   615
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   616
1150
c589b54ade01 Fixed requested_state.
Florian Pose <fp@igh-essen.com>
parents: 1148
diff changeset
   617
    ec_slave_request_state(slave, data.al_state);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   618
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   619
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   620
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   621
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   622
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   623
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   624
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   625
/** Get slave SDO information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   626
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   627
int ec_cdev_ioctl_slave_sdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   628
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   629
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   630
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   631
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   632
    ec_ioctl_slave_sdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   633
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   634
    const ec_sdo_t *sdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   635
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   636
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   637
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   638
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   639
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   640
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   641
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   642
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   643
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   644
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   645
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   646
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   647
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   648
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   649
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   650
    if (!(sdo = ec_slave_get_sdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   651
                    slave, data.sdo_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   652
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   653
        EC_ERR("SDO %u does not exist in slave %u!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   654
                data.sdo_position, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   655
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   656
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   657
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   658
    data.sdo_index = sdo->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   659
    data.max_subindex = sdo->max_subindex;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   660
    ec_cdev_strcpy(data.name, sdo->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   661
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   662
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   663
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   664
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   665
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   666
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   667
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   668
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   669
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   670
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   671
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   672
/** Get slave SDO entry information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   673
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   674
int ec_cdev_ioctl_slave_sdo_entry(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   675
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   676
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   677
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   678
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   679
    ec_ioctl_slave_sdo_entry_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   680
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   681
    const ec_sdo_t *sdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   682
    const ec_sdo_entry_t *entry;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   683
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   684
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   685
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   686
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   687
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   688
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   689
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   690
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   691
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   692
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   693
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   694
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   695
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   696
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   697
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   698
    if (data.sdo_spec <= 0) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   699
        if (!(sdo = ec_slave_get_sdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   700
                        slave, -data.sdo_spec))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   701
            up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   702
            EC_ERR("SDO %u does not exist in slave %u!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   703
                    -data.sdo_spec, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   704
            return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   705
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   706
    } else {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   707
        if (!(sdo = ec_slave_get_sdo_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   708
                        slave, data.sdo_spec))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   709
            up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   710
            EC_ERR("SDO 0x%04X does not exist in slave %u!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   711
                    data.sdo_spec, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   712
            return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   713
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   714
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   715
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   716
    if (!(entry = ec_sdo_get_entry_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   717
                    sdo, data.sdo_entry_subindex))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   718
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   719
        EC_ERR("SDO entry 0x%04X:%02X does not exist "
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   720
                "in slave %u!\n", sdo->index,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   721
                data.sdo_entry_subindex, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   722
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   723
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   724
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   725
    data.data_type = entry->data_type;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   726
    data.bit_length = entry->bit_length;
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   727
    data.read_access[EC_SDO_ENTRY_ACCESS_PREOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   728
        entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   729
    data.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   730
        entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   731
    data.read_access[EC_SDO_ENTRY_ACCESS_OP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   732
        entry->read_access[EC_SDO_ENTRY_ACCESS_OP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   733
    data.write_access[EC_SDO_ENTRY_ACCESS_PREOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   734
        entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   735
    data.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   736
        entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   737
    data.write_access[EC_SDO_ENTRY_ACCESS_OP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   738
        entry->write_access[EC_SDO_ENTRY_ACCESS_OP];
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   739
    ec_cdev_strcpy(data.description, entry->description);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   740
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   741
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   742
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   743
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   744
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   745
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   746
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   747
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   748
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   749
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   750
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   751
/** Upload SDO.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   752
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   753
int ec_cdev_ioctl_slave_sdo_upload(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   754
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   755
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   756
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   757
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   758
    ec_ioctl_slave_sdo_upload_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   759
    ec_master_sdo_request_t request;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   760
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   761
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   762
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   763
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   764
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   765
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   766
    ec_sdo_request_init(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   767
    ec_sdo_request_address(&request.req,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   768
            data.sdo_index, data.sdo_entry_subindex);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   769
    ecrt_sdo_request_read(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   770
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   771
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   772
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   773
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   774
    if (!(request.slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   775
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   776
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   777
        ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   778
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   779
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   780
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   781
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   782
    // schedule request.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   783
    list_add_tail(&request.list, &master->slave_sdo_requests);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   784
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   785
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   786
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   787
    // wait for processing through FSM
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   788
    if (wait_event_interruptible(master->sdo_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   789
                request.req.state != EC_INT_REQUEST_QUEUED)) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   790
        // interrupted by signal
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   791
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   792
        if (request.req.state == EC_INT_REQUEST_QUEUED) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   793
            list_del(&request.req.list);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   794
            up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   795
            ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   796
            return -EINTR;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   797
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   798
        // request already processing: interrupt not possible.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   799
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   800
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   801
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   802
    // wait until master FSM has finished processing
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   803
    wait_event(master->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   804
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   805
    data.abort_code = request.req.abort_code;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   806
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   807
    if (request.req.state != EC_INT_REQUEST_SUCCESS) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   808
        data.data_size = 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   809
        retval = -EIO;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   810
    } else {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   811
        if (request.req.data_size > data.target_size) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   812
            EC_ERR("Buffer too small.\n");
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   813
            ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   814
            return -EOVERFLOW;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   815
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   816
        data.data_size = request.req.data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   817
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   818
        if (copy_to_user((void __user *) data.target,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   819
                    request.req.data, data.data_size)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   820
            ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   821
            return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   822
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   823
        retval = 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   824
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   825
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   826
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   827
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   828
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   829
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   830
    ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   831
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   832
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   833
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   834
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   835
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   836
/** Download SDO.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   837
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   838
int ec_cdev_ioctl_slave_sdo_download(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   839
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   840
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   841
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   842
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   843
    ec_ioctl_slave_sdo_download_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   844
    ec_master_sdo_request_t request;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   845
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   846
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   847
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   848
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   849
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   850
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   851
    // copy data to download
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   852
    if (!data.data_size) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   853
        EC_ERR("Zero data size!\n");
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   854
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   855
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   856
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   857
    ec_sdo_request_init(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   858
    ec_sdo_request_address(&request.req,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   859
            data.sdo_index, data.sdo_entry_subindex);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   860
    if (ec_sdo_request_alloc(&request.req, data.data_size)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   861
        ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   862
        return -ENOMEM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   863
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   864
    if (copy_from_user(request.req.data,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   865
                (void __user *) data.data, data.data_size)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   866
        ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   867
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   868
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   869
    request.req.data_size = data.data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   870
    ecrt_sdo_request_write(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   871
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   872
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   873
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   874
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   875
    if (!(request.slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   876
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   877
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   878
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   879
        ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   880
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   881
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   882
    
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   883
    // schedule request.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   884
    list_add_tail(&request.list, &master->slave_sdo_requests);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   885
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   886
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   887
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   888
    // wait for processing through FSM
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   889
    if (wait_event_interruptible(master->sdo_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   890
                request.req.state != EC_INT_REQUEST_QUEUED)) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   891
        // interrupted by signal
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   892
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   893
        if (request.req.state == EC_INT_REQUEST_QUEUED) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   894
            list_del(&request.req.list);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   895
            up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   896
            ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   897
            return -EINTR;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   898
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   899
        // request already processing: interrupt not possible.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   900
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   901
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   902
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   903
    // wait until master FSM has finished processing
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   904
    wait_event(master->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   905
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   906
    data.abort_code = request.req.abort_code;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   907
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   908
    retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   909
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   910
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   911
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   912
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   913
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   914
    ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   915
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   916
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   917
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   918
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   919
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   920
/** Read a slave's SII.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   921
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   922
int ec_cdev_ioctl_slave_sii_read(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   923
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   924
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   925
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   926
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   927
    ec_ioctl_slave_sii_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   928
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   929
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   930
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   931
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   932
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   933
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   934
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   935
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   936
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   937
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   938
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   939
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   940
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   941
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   942
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   943
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   944
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   945
    if (!data.nwords
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   946
            || data.offset + data.nwords > slave->sii_nwords) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   947
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   948
        EC_ERR("Invalid SII read offset/size %u/%u for slave "
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   949
                "SII size %u!\n", data.offset,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   950
                data.nwords, slave->sii_nwords);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   951
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   952
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   953
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   954
    if (copy_to_user((void __user *) data.words,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   955
                slave->sii_words + data.offset, data.nwords * 2))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   956
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   957
    else
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   958
        retval = 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   959
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   960
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   961
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   962
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   963
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   964
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   965
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   966
/** Write a slave's SII.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   967
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   968
int ec_cdev_ioctl_slave_sii_write(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   969
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   970
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   971
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   972
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   973
    ec_ioctl_slave_sii_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   974
    ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   975
    unsigned int byte_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   976
    uint16_t *words;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   977
    ec_sii_write_request_t request;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   978
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   979
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   980
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   981
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   982
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   983
    if (!data.nwords)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   984
        return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   985
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   986
    byte_size = sizeof(uint16_t) * data.nwords;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   987
    if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   988
        EC_ERR("Failed to allocate %u bytes for SII contents.\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   989
                byte_size);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   990
        return -ENOMEM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   991
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   992
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   993
    if (copy_from_user(words,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   994
                (void __user *) data.words, byte_size)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   995
        kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   996
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   997
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   998
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   999
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1000
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1001
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1002
    if (!(slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1003
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1004
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1005
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1006
        kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1007
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1008
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1009
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1010
    // init SII write request
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1011
    INIT_LIST_HEAD(&request.list);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1012
    request.slave = slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1013
    request.words = words;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1014
    request.offset = data.offset;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1015
    request.nwords = data.nwords;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1016
    request.state = EC_INT_REQUEST_QUEUED;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1017
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1018
    // schedule SII write request.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1019
    list_add_tail(&request.list, &master->sii_requests);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1020
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1021
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1022
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1023
    // wait for processing through FSM
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1024
    if (wait_event_interruptible(master->sii_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1025
                request.state != EC_INT_REQUEST_QUEUED)) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1026
        // interrupted by signal
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1027
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1028
        if (request.state == EC_INT_REQUEST_QUEUED) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1029
            // abort request
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1030
            list_del(&request.list);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1031
            up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1032
            kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1033
            return -EINTR;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1034
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1035
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1036
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1037
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1038
    // wait until master FSM has finished processing
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1039
    wait_event(master->sii_queue, request.state != EC_INT_REQUEST_BUSY);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1040
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1041
    kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1042
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1043
    return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1044
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1045
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1046
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1047
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1048
/** Read a slave's registers.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1049
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1050
int ec_cdev_ioctl_slave_reg_read(
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1051
        ec_master_t *master, /**< EtherCAT master. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1052
        unsigned long arg /**< ioctl() argument. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1053
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1054
{
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1055
    ec_ioctl_slave_reg_t data;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1056
    ec_slave_t *slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1057
    uint8_t *contents;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1058
    ec_reg_request_t request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1059
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1060
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1061
        return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1062
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1063
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1064
    if (!data.length)
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1065
        return 0;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1066
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1067
    if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1068
        EC_ERR("Failed to allocate %u bytes for register data.\n", data.length);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1069
        return -ENOMEM;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1070
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1071
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1072
    if (down_interruptible(&master->master_sem))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1073
        return -EINTR;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1074
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1075
    if (!(slave = ec_master_find_slave(
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1076
                    master, 0, data.slave_position))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1077
        up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1078
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1079
        return -EINVAL;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1080
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1081
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1082
    // init register request
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1083
    INIT_LIST_HEAD(&request.list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1084
    request.slave = slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1085
    request.dir = EC_DIR_INPUT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1086
    request.data = contents;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1087
    request.offset = data.offset;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1088
    request.length = data.length;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1089
    request.state = EC_INT_REQUEST_QUEUED;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1090
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1091
    // schedule request.
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1092
    list_add_tail(&request.list, &master->reg_requests);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1093
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1094
    up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1095
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1096
    // wait for processing through FSM
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1097
    if (wait_event_interruptible(master->reg_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1098
                request.state != EC_INT_REQUEST_QUEUED)) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1099
        // interrupted by signal
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1100
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1101
        if (request.state == EC_INT_REQUEST_QUEUED) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1102
            // abort request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1103
            list_del(&request.list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1104
            up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1105
            kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1106
            return -EINTR;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1107
        }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1108
        up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1109
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1110
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1111
    // wait until master FSM has finished processing
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1112
    wait_event(master->reg_queue, request.state != EC_INT_REQUEST_BUSY);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1113
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1114
    if (request.state == EC_INT_REQUEST_SUCCESS) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1115
        if (copy_to_user((void __user *) data.data, contents, data.length))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1116
            return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1117
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1118
    kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1119
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1120
    return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1121
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1122
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1123
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1124
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1125
/** Write a slave's registers.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1126
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1127
int ec_cdev_ioctl_slave_reg_write(
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1128
        ec_master_t *master, /**< EtherCAT master. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1129
        unsigned long arg /**< ioctl() argument. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1130
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1131
{
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1132
    ec_ioctl_slave_reg_t data;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1133
    ec_slave_t *slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1134
    uint8_t *contents;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1135
    ec_reg_request_t request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1136
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1137
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1138
        return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1139
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1140
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1141
    if (!data.length)
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1142
        return 0;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1143
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1144
    if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1145
        EC_ERR("Failed to allocate %u bytes for register data.\n", data.length);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1146
        return -ENOMEM;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1147
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1148
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1149
    if (copy_from_user(contents, (void __user *) data.data, data.length)) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1150
        kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1151
        return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1152
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1153
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1154
    if (down_interruptible(&master->master_sem))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1155
        return -EINTR;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1156
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1157
    if (!(slave = ec_master_find_slave(
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1158
                    master, 0, data.slave_position))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1159
        up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1160
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1161
        kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1162
        return -EINVAL;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1163
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1164
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1165
    // init register request
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1166
    INIT_LIST_HEAD(&request.list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1167
    request.slave = slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1168
    request.dir = EC_DIR_OUTPUT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1169
    request.data = contents;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1170
    request.offset = data.offset;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1171
    request.length = data.length;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1172
    request.state = EC_INT_REQUEST_QUEUED;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1173
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1174
    // schedule request.
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1175
    list_add_tail(&request.list, &master->reg_requests);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1176
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1177
    up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1178
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1179
    // wait for processing through FSM
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1180
    if (wait_event_interruptible(master->reg_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1181
                request.state != EC_INT_REQUEST_QUEUED)) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1182
        // interrupted by signal
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1183
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1184
        if (request.state == EC_INT_REQUEST_QUEUED) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1185
            // abort request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1186
            list_del(&request.list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1187
            up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1188
            kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1189
            return -EINTR;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1190
        }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1191
        up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1192
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1193
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1194
    // wait until master FSM has finished processing
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1195
    wait_event(master->reg_queue, request.state != EC_INT_REQUEST_BUSY);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1196
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1197
    kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1198
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1199
    return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1200
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1201
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1202
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1203
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1204
/** Get slave configuration information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1205
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1206
int ec_cdev_ioctl_config(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1207
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1208
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1209
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1210
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1211
    ec_ioctl_config_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1212
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1213
    uint8_t i;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1214
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1215
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1216
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1217
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1218
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1219
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1220
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1221
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1222
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1223
                    master, data.config_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1224
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1225
        EC_ERR("Slave config %u does not exist!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1226
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1227
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1228
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1229
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1230
    data.alias = sc->alias;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1231
    data.position = sc->position;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1232
    data.vendor_id = sc->vendor_id;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1233
    data.product_code = sc->product_code;
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1234
    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1235
        data.syncs[i].dir = sc->sync_configs[i].dir;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1236
        data.syncs[i].pdo_count =
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1237
            ec_pdo_list_count(&sc->sync_configs[i].pdos);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1238
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1239
    data.sdo_count = ec_slave_config_sdo_count(sc);
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1109
diff changeset
  1240
    data.slave_position = sc->slave ? sc->slave->ring_position : -1;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1241
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1242
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1243
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1244
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1245
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1246
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1247
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1248
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1249
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1250
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1251
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1252
/** Get slave configuration PDO information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1253
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1254
int ec_cdev_ioctl_config_pdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1255
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1256
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1257
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1258
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1259
    ec_ioctl_config_pdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1260
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1261
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1262
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1263
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1264
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1265
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1266
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1267
    if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1268
        EC_ERR("Invalid sync manager index %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1269
                data.sync_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1270
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1271
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1272
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1273
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1274
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1275
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1276
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1277
                    master, data.config_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1278
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1279
        EC_ERR("Slave config %u does not exist!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1280
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1281
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1282
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1283
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1284
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1285
                    &sc->sync_configs[data.sync_index].pdos,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1286
                    data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1287
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1288
        EC_ERR("Invalid PDO position!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1289
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1290
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1291
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1292
    data.index = pdo->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1293
    data.entry_count = ec_pdo_entry_count(pdo);
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
  1294
    ec_cdev_strcpy(data.name, pdo->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1295
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1296
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1297
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1298
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1299
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1300
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1301
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1302
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1303
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1304
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1305
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1306
/** Get slave configuration PDO entry information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1307
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1308
int ec_cdev_ioctl_config_pdo_entry(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1309
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1310
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1311
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1312
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1313
    ec_ioctl_config_pdo_entry_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1314
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1315
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1316
    const ec_pdo_entry_t *entry;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1317
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1318
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1319
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1320
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1321
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1322
    if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1323
        EC_ERR("Invalid sync manager index %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1324
                data.sync_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1325
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1326
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1327
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1328
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1329
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1330
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1331
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1332
                    master, data.config_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1333
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1334
        EC_ERR("Slave config %u does not exist!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1335
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1336
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1337
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1338
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1339
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1340
                    &sc->sync_configs[data.sync_index].pdos,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1341
                    data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1342
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1343
        EC_ERR("Invalid PDO position!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1344
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1345
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1346
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1347
    if (!(entry = ec_pdo_find_entry_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1348
                    pdo, data.entry_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1349
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1350
        EC_ERR("Entry not found!\n");
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1351
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1352
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1353
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1354
    data.index = entry->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1355
    data.subindex = entry->subindex;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1356
    data.bit_length = entry->bit_length;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
  1357
    ec_cdev_strcpy(data.name, entry->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1358
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1359
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1360
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1361
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1362
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1363
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1364
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1365
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1366
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1367
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1368
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1369
/** Get slave configuration SDO information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1370
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1371
int ec_cdev_ioctl_config_sdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1372
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1373
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1374
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1375
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1376
    ec_ioctl_config_sdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1377
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1378
    const ec_sdo_request_t *req;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1379
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1380
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1381
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1382
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1383
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1384
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1385
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1386
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1387
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1388
                    master, data.config_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1389
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1390
        EC_ERR("Slave config %u does not exist!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1391
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1392
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1393
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1394
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1395
    if (!(req = ec_slave_config_get_sdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1396
                    sc, data.sdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1397
        up(&master->master_sem);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1398
        EC_ERR("Invalid SDO position!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1399
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1400
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1401
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1402
    data.index = req->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1403
    data.subindex = req->subindex;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1404
    data.size = req->data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1405
    memcpy(&data.data, req->data, min((u32) data.size, (u32) 4));
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1406
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1407
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1408
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1409
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1410
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1411
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1412
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1413
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1414
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1415
/*****************************************************************************/
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1416
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1417
/** Request the master from userspace.
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1418
 */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1419
int ec_cdev_ioctl_request(
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1420
        ec_master_t *master, /**< EtherCAT master. */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1421
        unsigned long arg, /**< ioctl() argument. */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1422
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1423
        )
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1424
{
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1425
	ec_master_t *m;
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1426
    int ret = 0;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1427
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1428
    m = ecrt_request_master_err(master->index);
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1429
    if (IS_ERR(m)) {
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1430
        ret = PTR_ERR(m);
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1431
    } else {
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1432
        priv->requested = 1;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1433
    }
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1434
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1435
    return ret;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1436
}
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1437
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1438
/*****************************************************************************/
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1439
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1440
/** Create a domain.
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1441
 */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1442
int ec_cdev_ioctl_create_domain(
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1443
        ec_master_t *master, /**< EtherCAT master. */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1444
        unsigned long arg, /**< ioctl() argument. */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1445
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1446
        )
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1447
{
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1448
    ec_domain_t *domain;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1449
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1450
	if (unlikely(!priv->requested))
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1451
		return -EPERM;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1452
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1453
    domain = ecrt_master_create_domain_err(master);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1454
    if (IS_ERR(domain))
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1455
        return PTR_ERR(domain);
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1456
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1457
    return domain->index;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1458
}
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1459
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1460
/*****************************************************************************/
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1461
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1462
/** Create a slave configuration.
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1463
 */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1464
int ec_cdev_ioctl_create_slave_config(
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1465
        ec_master_t *master, /**< EtherCAT master. */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1466
        unsigned long arg, /**< ioctl() argument. */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1467
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1468
        )
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1469
{
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1470
    ec_ioctl_config_t data;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1471
    ec_slave_config_t *sc, *entry;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1472
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1473
	if (unlikely(!priv->requested))
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1474
		return -EPERM;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1475
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1476
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1477
        return -EFAULT;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1478
    }
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1479
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1480
    sc = ecrt_master_slave_config_err(master, data.alias, data.position,
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1481
            data.vendor_id, data.product_code);
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1482
    if (IS_ERR(sc))
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1483
        return PTR_ERR(sc);
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1484
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1485
    data.config_index = 0;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1486
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1487
    if (down_interruptible(&master->master_sem))
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1488
        return -EINTR;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1489
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1490
    list_for_each_entry(entry, &master->configs, list) {
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1491
        if (entry == sc)
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1492
            break;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1493
        data.config_index++;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1494
    }
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1495
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1496
    up(&master->master_sem);
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1497
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1498
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1499
        return -EFAULT;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1500
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1501
    return 0;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1502
}
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1503
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1504
/*****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1505
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1506
/** Activates the master.
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1507
 */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1508
int ec_cdev_ioctl_activate(
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1509
        ec_master_t *master, /**< EtherCAT master. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1510
        unsigned long arg, /**< ioctl() argument. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1511
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1512
        )
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1513
{
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1514
    ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1515
    off_t offset;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1516
    int ret;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1517
    
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1518
	if (unlikely(!priv->requested))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1519
		return -EPERM;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1520
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1521
    /* Get the sum of the domains' process data sizes. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1522
    
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1523
    priv->process_data_size = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1524
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1525
    if (down_interruptible(&master->master_sem))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1526
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1527
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1528
    list_for_each_entry(domain, &master->domains, list) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1529
        priv->process_data_size += ecrt_domain_size(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1530
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1531
    
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1532
    up(&master->master_sem);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1533
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1534
    if (priv->process_data_size) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1535
        priv->process_data = vmalloc(priv->process_data_size);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1536
        if (!priv->process_data) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1537
            priv->process_data_size = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1538
            return -ENOMEM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1539
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1540
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1541
        /* Set the memory as external process data memory for the domains. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1542
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1543
        offset = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1544
        list_for_each_entry(domain, &master->domains, list) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1545
            ecrt_domain_external_memory(domain, priv->process_data + offset);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1546
            offset += ecrt_domain_size(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1547
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1548
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1549
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1550
    ret = ecrt_master_activate(master);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1551
    if (ret < 0)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1552
        return ret;
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1553
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1554
    if (copy_to_user((void __user *) arg,
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1555
                &priv->process_data_size, sizeof(size_t)))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1556
        return -EFAULT;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1557
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1558
    return 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1559
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1560
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1561
/*****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1562
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1563
/** Send frames.
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1564
 */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1565
int ec_cdev_ioctl_send(
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1566
        ec_master_t *master, /**< EtherCAT master. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1567
        unsigned long arg, /**< ioctl() argument. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1568
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1569
        )
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1570
{
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1571
	if (unlikely(!priv->requested))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1572
		return -EPERM;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1573
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1574
    spin_lock_bh(&master->internal_lock);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1575
    ecrt_master_send(master);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1576
    spin_unlock_bh(&master->internal_lock);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1577
    return 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1578
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1579
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1580
/*****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1581
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1582
/** Receive frames.
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1583
 */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1584
int ec_cdev_ioctl_receive(
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1585
        ec_master_t *master, /**< EtherCAT master. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1586
        unsigned long arg, /**< ioctl() argument. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1587
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1588
        )
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1589
{
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1590
	if (unlikely(!priv->requested))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1591
		return -EPERM;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1592
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1593
    spin_lock_bh(&master->internal_lock);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1594
    ecrt_master_receive(master);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1595
    spin_unlock_bh(&master->internal_lock);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1596
    return 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1597
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1598
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1599
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1600
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1601
/** Get the master state.
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1602
 */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1603
int ec_cdev_ioctl_master_state(
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1604
        ec_master_t *master, /**< EtherCAT master. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1605
        unsigned long arg, /**< ioctl() argument. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1606
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1607
        )
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1608
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1609
    ec_master_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1610
    
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1611
	if (unlikely(!priv->requested))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1612
		return -EPERM;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1613
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1614
    ecrt_master_state(master, &data);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1615
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1616
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1617
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1618
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1619
    return 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1620
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1621
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1622
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1623
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1624
/** Set the direction of a sync manager.
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1625
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1626
int ec_cdev_ioctl_sc_sync(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1627
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1628
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1629
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1630
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1631
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1632
    ec_ioctl_config_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1633
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1634
    unsigned int i;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1635
    int ret = 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1636
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1637
	if (unlikely(!priv->requested)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1638
        ret = -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1639
        goto out_return;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1640
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1641
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1642
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1643
        ret = -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1644
        goto out_return;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1645
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1646
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1647
    if (down_interruptible(&master->master_sem)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1648
        ret = -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1649
        goto out_return;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1650
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1651
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1652
    if (!(sc = ec_master_get_config(master, data.config_index))) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1653
        ret = -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1654
        goto out_up;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1655
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1656
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1657
    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1658
        ec_direction_t dir = data.syncs[i].dir;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1659
        if (dir == EC_DIR_INPUT || dir == EC_DIR_OUTPUT) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1660
            if (ecrt_slave_config_sync_manager(sc, i, dir)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1661
                ret = -EINVAL;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1662
                goto out_up;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1663
            }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1664
        }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1665
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1666
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1667
out_up:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1668
    up(&master->master_sem);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1669
out_return:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1670
    return ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1671
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1672
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1673
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1674
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1675
/** Add a PDO to the assignment.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1676
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1677
int ec_cdev_ioctl_sc_add_pdo(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1678
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1679
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1680
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1681
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1682
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1683
    ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1684
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1685
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1686
	if (unlikely(!priv->requested))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1687
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1688
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1689
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1690
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1691
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1692
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1693
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1694
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1695
    if (!(sc = ec_master_get_config(master, data.config_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1696
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1697
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1698
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1699
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1700
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1701
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1702
    return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1703
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1704
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1705
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1706
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1707
/** Clears the PDO assignment.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1708
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1709
int ec_cdev_ioctl_sc_clear_pdos(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1710
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1711
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1712
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1713
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1714
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1715
    ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1716
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1717
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1718
	if (unlikely(!priv->requested))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1719
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1720
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1721
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1722
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1723
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1724
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1725
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1726
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1727
    if (!(sc = ec_master_get_config(master, data.config_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1728
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1729
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1730
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1731
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1732
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1733
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1734
    ecrt_slave_config_pdo_assign_clear(sc, data.sync_index);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1735
    return 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1736
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1737
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1738
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1739
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1740
/** Add an entry to a PDO's mapping.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1741
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1742
int ec_cdev_ioctl_sc_add_entry(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1743
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1744
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1745
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1746
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1747
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1748
    ec_ioctl_add_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1749
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1750
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1751
	if (unlikely(!priv->requested))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1752
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1753
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1754
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1755
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1756
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1757
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1758
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1759
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1760
    if (!(sc = ec_master_get_config(master, data.config_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1761
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1762
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1763
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1764
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1765
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1766
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1767
    return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1768
            data.entry_index, data.entry_subindex, data.entry_bit_length);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1769
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1770
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1771
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1772
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1773
/** Clears the mapping of a PDO.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1774
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1775
int ec_cdev_ioctl_sc_clear_entries(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1776
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1777
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1778
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1779
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1780
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1781
    ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1782
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1783
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1784
	if (unlikely(!priv->requested))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1785
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1786
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1787
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1788
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1789
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1790
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1791
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1792
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1793
    if (!(sc = ec_master_get_config(master, data.config_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1794
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1795
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1796
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1797
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1798
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1799
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1800
    ecrt_slave_config_pdo_mapping_clear(sc, data.index);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1801
    return 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1802
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1803
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1804
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1805
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1806
/** Registers a PDO entry.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1807
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1808
int ec_cdev_ioctl_sc_reg_pdo_entry(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1809
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1810
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1811
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1812
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1813
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1814
    ec_ioctl_reg_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1815
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1816
    ec_domain_t *domain;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1817
    int ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1818
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1819
	if (unlikely(!priv->requested))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1820
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1821
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1822
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1823
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1824
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1825
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1826
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1827
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1828
    if (!(sc = ec_master_get_config(master, data.config_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1829
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1830
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1831
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1832
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1833
    if (!(domain = ec_master_find_domain(master, data.domain_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1834
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1835
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1836
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1837
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1838
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1839
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1840
    ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1841
            data.entry_subindex, domain, &data.bit_position);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1842
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1843
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1844
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1845
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1846
    return ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1847
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1848
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1849
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1850
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1851
/** Configures an SDO.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1852
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1853
int ec_cdev_ioctl_sc_sdo(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1854
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1855
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1856
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1857
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1858
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1859
    ec_ioctl_sc_sdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1860
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1861
    uint8_t *sdo_data = NULL;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1862
    int ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1863
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1864
	if (unlikely(!priv->requested))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1865
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1866
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1867
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1868
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1869
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1870
    if (!data.size)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1871
        return -EINVAL;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1872
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1873
    if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1874
        return -ENOMEM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1875
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1876
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1877
    if (copy_from_user(sdo_data, (void __user *) data.data, data.size)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1878
        kfree(sdo_data);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1879
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1880
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1881
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1882
    if (down_interruptible(&master->master_sem)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1883
        kfree(sdo_data);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1884
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1885
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1886
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1887
    if (!(sc = ec_master_get_config(master, data.config_index))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1888
        up(&master->master_sem);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1889
        kfree(sdo_data);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1890
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1891
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1892
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1893
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1894
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1895
    ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1896
            data.size);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1897
    kfree(sdo_data);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1898
    return ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1899
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1900
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1901
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1902
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1903
/** Create an SDO request.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1904
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1905
int ec_cdev_ioctl_sc_create_sdo_request(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1906
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1907
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1908
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1909
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1910
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1911
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1912
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1913
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1914
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1915
	if (unlikely(!priv->requested))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1916
		return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1917
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1918
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1919
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1920
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1921
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1922
    data.request_index = 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1923
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1924
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1925
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1926
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1927
    sc = ec_master_get_config(master, data.config_index);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1928
    if (!sc) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1929
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1930
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1931
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1932
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1933
    list_for_each_entry(req, &sc->sdo_requests, list) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1934
        data.request_index++;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1935
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1936
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1937
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1938
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1939
    req = ecrt_slave_config_create_sdo_request_err(sc, data.sdo_index,
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1940
            data.sdo_subindex, data.size);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1941
    if (IS_ERR(req))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1942
        return PTR_ERR(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1943
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1944
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1945
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1946
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1947
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1948
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1949
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1950
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  1951
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1952
/** Create a VoE handler.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1953
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1954
int ec_cdev_ioctl_sc_create_voe_handler(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1955
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1956
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1957
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1958
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1959
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1960
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1961
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1962
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1963
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1964
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1965
		return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1966
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1967
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1968
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1969
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1970
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1971
    data.voe_index = 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1972
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1973
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1974
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1975
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1976
    sc = ec_master_get_config(master, data.config_index);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1977
    if (!sc) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1978
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1979
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1980
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1981
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1982
    list_for_each_entry(voe, &sc->voe_handlers, list) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1983
        data.voe_index++;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1984
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1985
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1986
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1987
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1988
    voe = ecrt_slave_config_create_voe_handler_err(sc, data.size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1989
    if (IS_ERR(voe))
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1990
        return PTR_ERR(voe);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1991
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1992
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1993
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1994
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1995
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1996
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1997
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1998
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  1999
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2000
/** Get the slave configuration's state.
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2001
 */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2002
int ec_cdev_ioctl_sc_state(
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2003
        ec_master_t *master, /**< EtherCAT master. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2004
        unsigned long arg, /**< ioctl() argument. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2005
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2006
        )
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2007
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2008
    ec_ioctl_sc_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2009
    const ec_slave_config_t *sc;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2010
    ec_slave_config_state_t state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2011
    
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2012
	if (unlikely(!priv->requested))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2013
		return -EPERM;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2014
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2015
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2016
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2017
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2018
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2019
    if (down_interruptible(&master->master_sem))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2020
        return -EINTR;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2021
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2022
    if (!(sc = ec_master_get_config_const(master, data.config_index))) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2023
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2024
        return -ENOENT;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2025
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2026
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2027
    ecrt_slave_config_state(sc, &state);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2028
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2029
    up(&master->master_sem);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2030
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2031
    if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2032
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2033
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2034
    return 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2035
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2036
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2037
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2038
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2039
/** Gets the domain's offset in the total process data.
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2040
 */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2041
int ec_cdev_ioctl_domain_offset(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2042
        ec_master_t *master, /**< EtherCAT master. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2043
        unsigned long arg, /**< ioctl() argument. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2044
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2045
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2046
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2047
    int offset = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2048
    const ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2049
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2050
	if (unlikely(!priv->requested))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2051
        return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2052
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2053
    if (down_interruptible(&master->master_sem)) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2054
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2055
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2056
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2057
    list_for_each_entry(domain, &master->domains, list) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2058
        if (domain->index == arg) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2059
            up(&master->master_sem);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2060
            return offset;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2061
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2062
        offset += ecrt_domain_size(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2063
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2064
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2065
    up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2066
    return -ENOENT;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2067
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2068
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2069
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2070
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2071
/** Process the domain.
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2072
 */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2073
int ec_cdev_ioctl_domain_process(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2074
        ec_master_t *master, /**< EtherCAT master. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2075
        unsigned long arg, /**< ioctl() argument. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2076
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2077
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2078
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2079
    ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2080
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2081
	if (unlikely(!priv->requested))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2082
        return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2083
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2084
    if (down_interruptible(&master->master_sem))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2085
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2086
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2087
    if (!(domain = ec_master_find_domain(master, arg))) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2088
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2089
        return -ENOENT;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2090
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2091
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2092
    ecrt_domain_process(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2093
    up(&master->master_sem);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2094
    return 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2095
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2096
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2097
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2098
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2099
/** Queue the domain.
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2100
 */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2101
int ec_cdev_ioctl_domain_queue(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2102
        ec_master_t *master, /**< EtherCAT master. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2103
        unsigned long arg, /**< ioctl() argument. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2104
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2105
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2106
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2107
    ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2108
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2109
	if (unlikely(!priv->requested))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2110
        return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2111
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2112
    if (down_interruptible(&master->master_sem))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2113
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2114
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2115
    if (!(domain = ec_master_find_domain(master, arg))) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2116
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2117
        return -ENOENT;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2118
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2119
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2120
    ecrt_domain_queue(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2121
    up(&master->master_sem);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2122
    return 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2123
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2124
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2125
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2126
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2127
/** Get the domain state.
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2128
 */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2129
int ec_cdev_ioctl_domain_state(
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2130
        ec_master_t *master, /**< EtherCAT master. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2131
        unsigned long arg, /**< ioctl() argument. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2132
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2133
        )
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2134
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2135
    ec_ioctl_domain_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2136
    const ec_domain_t *domain;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2137
    ec_domain_state_t state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2138
    
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2139
	if (unlikely(!priv->requested))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2140
		return -EPERM;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2141
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2142
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2143
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2144
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2145
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2146
    if (down_interruptible(&master->master_sem))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2147
        return -EINTR;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2148
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2149
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2150
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2151
        return -ENOENT;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2152
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2153
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2154
    ecrt_domain_state(domain, &state);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2155
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2156
    up(&master->master_sem);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2157
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2158
    if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2159
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2160
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2161
    return 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2162
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2163
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2164
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2165
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2166
/** Sets an SDO request's timeout.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2167
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2168
int ec_cdev_ioctl_sdo_request_timeout(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2169
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2170
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2171
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2172
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2173
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2174
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2175
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2176
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2177
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2178
	if (unlikely(!priv->requested))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2179
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2180
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2181
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2182
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2183
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2184
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2185
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2186
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2187
    if (!(sc = ec_master_get_config(master, data.config_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2188
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2189
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2190
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2191
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2192
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2193
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2194
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2195
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2196
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2197
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2198
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2199
    ecrt_sdo_request_timeout(req, data.timeout);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2200
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2201
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2202
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2203
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2204
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2205
/** Gets an SDO request's state.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2206
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2207
int ec_cdev_ioctl_sdo_request_state(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2208
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2209
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2210
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2211
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2212
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2213
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2214
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2215
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2216
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2217
	if (unlikely(!priv->requested))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2218
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2219
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2220
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2221
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2222
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2223
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2224
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2225
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2226
    if (!(sc = ec_master_get_config(master, data.config_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2227
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2228
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2229
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2230
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2231
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2232
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2233
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2234
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2235
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2236
    data.state = ecrt_sdo_request_state(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2237
    if (data.state == EC_REQUEST_SUCCESS && req->dir == EC_DIR_INPUT)
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2238
        data.size = ecrt_sdo_request_data_size(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2239
    else
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2240
        data.size = 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2241
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2242
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2243
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2244
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2245
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2246
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2247
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2248
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2249
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2250
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2251
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2252
/** Starts an SDO read operation.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2253
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2254
int ec_cdev_ioctl_sdo_request_read(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2255
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2256
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2257
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2258
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2259
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2260
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2261
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2262
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2263
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2264
	if (unlikely(!priv->requested))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2265
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2266
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2267
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2268
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2269
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2270
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2271
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2272
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2273
    if (!(sc = ec_master_get_config(master, data.config_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2274
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2275
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2276
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2277
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2278
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2279
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2280
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2281
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2282
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2283
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2284
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2285
    ecrt_sdo_request_read(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2286
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2287
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2288
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2289
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2290
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2291
/** Starts an SDO write operation.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2292
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2293
int ec_cdev_ioctl_sdo_request_write(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2294
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2295
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2296
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2297
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2298
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2299
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2300
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2301
    ec_sdo_request_t *req;
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2302
    int ret;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2303
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2304
	if (unlikely(!priv->requested))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2305
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2306
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2307
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2308
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2309
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2310
    if (!data.size) {
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2311
        EC_ERR("Sdo download: Data size may not be zero!\n");
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2312
        return -EINVAL;
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2313
    }
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2314
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2315
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2316
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2317
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2318
    if (!(sc = ec_master_get_config(master, data.config_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2319
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2320
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2321
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2322
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2323
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2324
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2325
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2326
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2327
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2328
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2329
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2330
    ret = ec_sdo_request_alloc(req, data.size);
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2331
    if (ret)
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2332
        return ret;
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2333
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2334
    if (copy_from_user(req->data, (void __user *) data.data, data.size))
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2335
        return -EFAULT;
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2336
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2337
    req->data_size = data.size;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2338
    ecrt_sdo_request_write(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2339
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2340
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2341
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2342
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2343
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2344
/** Read SDO data.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2345
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2346
int ec_cdev_ioctl_sdo_request_data(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2347
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2348
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2349
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2350
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2351
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2352
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2353
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2354
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2355
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2356
	if (unlikely(!priv->requested))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2357
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2358
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2359
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2360
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2361
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2362
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2363
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2364
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2365
    if (!(sc = ec_master_get_config(master, data.config_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2366
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2367
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2368
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2369
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2370
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2371
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2372
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2373
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2374
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2375
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2376
1362
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2377
    if (copy_to_user((void __user *) data.data, ecrt_sdo_request_data(req),
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2378
                ecrt_sdo_request_data_size(req)))
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2379
        return -EFAULT;
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2380
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2381
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2382
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2383
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2384
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2385
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2386
/** Sets the VoE send header.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2387
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2388
int ec_cdev_ioctl_voe_send_header(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2389
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2390
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2391
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2392
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2393
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2394
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2395
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2396
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2397
    uint32_t vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2398
    uint16_t vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2399
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2400
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2401
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2402
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2403
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2404
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2405
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2406
    if (get_user(vendor_id, data.vendor_id))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2407
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2408
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2409
    if (get_user(vendor_type, data.vendor_type))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2410
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2411
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2412
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2413
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2414
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2415
    if (!(sc = ec_master_get_config(master, data.config_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2416
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2417
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2418
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2419
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2420
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2421
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2422
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2423
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2424
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2425
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2426
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2427
    ecrt_voe_handler_send_header(voe, vendor_id, vendor_type);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2428
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2429
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2430
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2431
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2432
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2433
/** Gets the received VoE header.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2434
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2435
int ec_cdev_ioctl_voe_rec_header(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2436
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2437
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2438
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2439
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2440
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2441
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2442
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2443
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2444
    uint32_t vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2445
    uint16_t vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2446
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2447
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2448
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2449
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2450
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2451
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2452
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2453
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2454
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2455
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2456
    if (!(sc = ec_master_get_config(master, data.config_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2457
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2458
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2459
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2460
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2461
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2462
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2463
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2464
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2465
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2466
    ecrt_voe_handler_received_header(voe, &vendor_id, &vendor_type);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2467
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2468
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2469
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2470
    if (likely(data.vendor_id))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2471
        if (put_user(vendor_id, data.vendor_id))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2472
            return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2473
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2474
    if (likely(data.vendor_type))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2475
        if (put_user(vendor_type, data.vendor_type))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2476
            return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2477
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2478
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2479
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2480
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2481
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2482
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2483
/** Starts a VoE read operation.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2484
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2485
int ec_cdev_ioctl_voe_read(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2486
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2487
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2488
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2489
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2490
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2491
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2492
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2493
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2494
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2495
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2496
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2497
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2498
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2499
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2500
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2501
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2502
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2503
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2504
    if (!(sc = ec_master_get_config(master, data.config_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2505
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2506
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2507
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2508
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2509
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2510
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2511
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2512
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2513
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2514
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2515
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2516
    ecrt_voe_handler_read(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2517
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2518
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2519
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2520
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2521
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2522
/** Starts a VoE read operation without sending a sync message first.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2523
 */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2524
int ec_cdev_ioctl_voe_read_nosync(
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2525
        ec_master_t *master, /**< EtherCAT master. */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2526
        unsigned long arg, /**< ioctl() argument. */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2527
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2528
        )
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2529
{
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2530
    ec_ioctl_voe_t data;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2531
    ec_slave_config_t *sc;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2532
    ec_voe_handler_t *voe;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2533
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2534
	if (unlikely(!priv->requested))
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2535
        return -EPERM;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2536
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2537
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2538
        return -EFAULT;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2539
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2540
    if (down_interruptible(&master->master_sem))
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2541
        return -EINTR;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2542
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2543
    if (!(sc = ec_master_get_config(master, data.config_index))) {
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2544
        up(&master->master_sem);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2545
        return -ENOENT;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2546
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2547
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2548
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2549
        up(&master->master_sem);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2550
        return -ENOENT;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2551
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2552
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2553
    up(&master->master_sem);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2554
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2555
    ecrt_voe_handler_read_nosync(voe);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2556
    return 0;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2557
}
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2558
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2559
/*****************************************************************************/
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  2560
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2561
/** Starts a VoE write operation.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2562
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2563
int ec_cdev_ioctl_voe_write(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2564
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2565
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2566
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2567
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2568
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2569
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2570
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2571
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2572
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2573
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2574
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2575
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2576
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2577
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2578
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2579
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2580
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2581
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2582
    if (!(sc = ec_master_get_config(master, data.config_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2583
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2584
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2585
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2586
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2587
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2588
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2589
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2590
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2591
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2592
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2593
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2594
    if (data.size) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2595
        if (data.size > ec_voe_handler_mem_size(voe))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2596
            return -EOVERFLOW;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2597
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2598
        if (copy_from_user(ecrt_voe_handler_data(voe),
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2599
                    (void __user *) data.data, data.size))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2600
            return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2601
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2602
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2603
    ecrt_voe_handler_write(voe, data.size);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2604
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2605
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2606
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2607
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2608
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2609
/** Executes the VoE state machine.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2610
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2611
int ec_cdev_ioctl_voe_exec(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2612
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2613
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2614
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2615
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2616
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2617
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2618
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2619
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2620
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2621
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2622
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2623
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2624
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2625
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2626
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2627
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2628
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2629
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2630
    if (!(sc = ec_master_get_config(master, data.config_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2631
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2632
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2633
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2634
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2635
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2636
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2637
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2638
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2639
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2640
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2641
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2642
    data.state = ecrt_voe_handler_execute(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2643
    if (data.state == EC_REQUEST_SUCCESS && voe->dir == EC_DIR_INPUT)
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2644
        data.size = ecrt_voe_handler_data_size(voe);
1350
cd278db5a872 Minor fix in VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1349
diff changeset
  2645
    else
cd278db5a872 Minor fix in VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1349
diff changeset
  2646
        data.size = 0;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2647
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2648
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2649
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2650
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2651
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2652
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2653
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2654
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2655
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2656
/** Reads the received VoE data.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2657
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2658
int ec_cdev_ioctl_voe_data(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2659
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2660
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2661
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2662
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2663
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2664
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2665
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2666
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2667
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2668
	if (unlikely(!priv->requested))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2669
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2670
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2671
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2672
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2673
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2674
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2675
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2676
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2677
    if (!(sc = ec_master_get_config(master, data.config_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2678
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2679
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2680
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2681
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2682
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2683
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2684
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2685
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2686
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2687
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2688
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2689
    if (copy_to_user((void __user *) data.data, ecrt_voe_handler_data(voe),
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2690
                ecrt_voe_handler_data_size(voe)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2691
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2692
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2693
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2694
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2695
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2696
/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2697
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2698
/** Read a file from a slave via FoE.
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2699
 */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2700
int ec_cdev_ioctl_slave_foe_read(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2701
        ec_master_t *master, /**< EtherCAT master. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2702
        unsigned long arg /**< ioctl() argument. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2703
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2704
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2705
    ec_ioctl_slave_foe_t data;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2706
    ec_master_foe_request_t request;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2707
    int retval;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2708
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2709
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2710
        return -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2711
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2712
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2713
    ec_foe_request_init(&request.req, data.file_name);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2714
    ec_foe_request_read(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2715
    ec_foe_request_alloc(&request.req, 10000); // FIXME
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2716
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2717
    if (down_interruptible(&master->master_sem))
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2718
        return -EINTR;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2719
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2720
    if (!(request.slave = ec_master_find_slave(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2721
                    master, 0, data.slave_position))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2722
        up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2723
        ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2724
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2725
        return -EINVAL;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2726
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2727
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2728
    // schedule request.
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2729
    list_add_tail(&request.list, &master->foe_requests);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2730
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2731
    up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2732
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2733
    if (master->debug_level) {
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2734
        EC_DBG("Scheduled FoE read request on slave %u.\n",
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2735
                request.slave->ring_position);
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2736
    }
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2737
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2738
    // wait for processing through FSM
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2739
    if (wait_event_interruptible(master->foe_queue,
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2740
                request.req.state != EC_INT_REQUEST_QUEUED)) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2741
        // interrupted by signal
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2742
        down(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2743
        if (request.req.state == EC_INT_REQUEST_QUEUED) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2744
            list_del(&request.list);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2745
            up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2746
            ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2747
            return -EINTR;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2748
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2749
        // request already processing: interrupt not possible.
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2750
        up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2751
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2752
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2753
    // wait until master FSM has finished processing
1349
9baba3568df4 Fixed FoE request states.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
  2754
    wait_event(master->foe_queue, request.req.state != EC_INT_REQUEST_BUSY);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2755
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2756
    data.result = request.req.result;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2757
    data.error_code = request.req.error_code;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2758
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2759
	if (master->debug_level) {
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2760
		EC_DBG("Read %d bytes via FoE (result = 0x%x).\n",
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2761
				request.req.data_size, request.req.result);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2762
	}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2763
1349
9baba3568df4 Fixed FoE request states.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
  2764
    if (request.req.state != EC_INT_REQUEST_SUCCESS) {
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2765
        data.data_size = 0;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2766
        retval = -EIO;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2767
    } else {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2768
        if (request.req.data_size > data.buffer_size) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2769
            EC_ERR("Buffer too small.\n");
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2770
            ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2771
            return -EOVERFLOW;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2772
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2773
        data.data_size = request.req.data_size;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2774
        if (copy_to_user((void __user *) data.buffer,
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2775
                    request.req.buffer, data.data_size)) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2776
            ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2777
            return -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2778
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2779
        retval = 0;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2780
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2781
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2782
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2783
        retval = -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2784
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2785
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2786
    if (master->debug_level)
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2787
        EC_DBG("FoE read request finished on slave %u.\n",
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2788
                request.slave->ring_position);
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2789
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2790
    ec_foe_request_clear(&request.req);
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2791
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2792
    return retval;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2793
}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2794
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2795
/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2796
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2797
/** Write a file to a slave via FoE
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2798
 */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2799
int ec_cdev_ioctl_slave_foe_write(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2800
        ec_master_t *master, /**< EtherCAT master. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2801
        unsigned long arg /**< ioctl() argument. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2802
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2803
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2804
    ec_ioctl_slave_foe_t data;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2805
    ec_master_foe_request_t request;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2806
    int retval;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2807
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2808
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2809
        return -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2810
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2811
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2812
    INIT_LIST_HEAD(&request.list);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2813
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2814
    ec_foe_request_init(&request.req, data.file_name);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2815
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2816
    if (ec_foe_request_alloc(&request.req, data.buffer_size)) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2817
        ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2818
        return -ENOMEM;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2819
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2820
    if (copy_from_user(request.req.buffer,
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2821
                (void __user *) data.buffer, data.buffer_size)) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2822
        ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2823
        return -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2824
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2825
    request.req.data_size = data.buffer_size;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2826
    ec_foe_request_write(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2827
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2828
    if (down_interruptible(&master->master_sem))
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2829
        return -EINTR;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2830
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2831
    if (!(request.slave = ec_master_find_slave(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2832
                    master, 0, data.slave_position))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2833
        up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2834
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2835
        ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2836
        return -EINVAL;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2837
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2838
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2839
	if (master->debug_level) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2840
		EC_DBG("Scheduling FoE write request.\n");
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2841
	}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2842
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2843
    // schedule FoE write request.
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2844
    list_add_tail(&request.list, &master->foe_requests);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2845
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2846
    up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2847
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2848
    // wait for processing through FSM
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2849
    if (wait_event_interruptible(master->foe_queue,
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2850
                request.req.state != EC_INT_REQUEST_QUEUED)) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2851
        // interrupted by signal
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2852
        down(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2853
        if (request.req.state == EC_INT_REQUEST_QUEUED) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2854
            // abort request
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2855
            list_del(&request.list);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2856
            up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2857
            ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2858
            return -EINTR;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2859
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2860
        up(&master->master_sem);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2861
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2862
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2863
    // wait until master FSM has finished processing
1349
9baba3568df4 Fixed FoE request states.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
  2864
    wait_event(master->foe_queue, request.req.state != EC_INT_REQUEST_BUSY);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2865
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2866
    data.result = request.req.result;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  2867
    data.error_code = request.req.error_code;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2868
1349
9baba3568df4 Fixed FoE request states.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
  2869
    retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2870
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2871
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2872
        retval = -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2873
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2874
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2875
    ec_foe_request_clear(&request.req);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2876
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2877
	if (master->debug_level) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2878
		printk ("Finished FoE writing.\n");
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2879
	}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2880
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2881
    return retval;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2882
}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2883
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2884
/******************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2885
 * File operations
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2886
 *****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2887
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  2888
/** Called when the cdev is opened.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  2889
 */
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2890
int eccdev_open(struct inode *inode, struct file *filp)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2891
{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2892
    ec_cdev_t *cdev = container_of(inode->i_cdev, ec_cdev_t, cdev);
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2893
    ec_cdev_priv_t *priv;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2894
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2895
    priv = kmalloc(sizeof(ec_cdev_priv_t), GFP_KERNEL);
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2896
    if (!priv) {
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2897
        EC_ERR("Failed to allocate memory for private data structure.\n");
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2898
        return -ENOMEM;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2899
    }
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2900
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2901
    priv->cdev = cdev;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2902
    priv->requested = 0;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2903
    priv->process_data = NULL;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2904
    priv->process_data_size = 0;
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2905
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2906
    filp->private_data = priv;
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2907
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2908
#if DEBUG_IOCTL
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2909
    EC_DBG("File opened.\n");
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2910
#endif
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2911
    return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2912
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2913
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2914
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2915
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  2916
/** Called when the cdev is closed.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  2917
 */
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2918
int eccdev_release(struct inode *inode, struct file *filp)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2919
{
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2920
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2921
    ec_master_t *master = priv->cdev->master;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2922
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2923
    if (priv->requested)
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2924
        ecrt_release_master(master);
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  2925
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2926
    if (priv->process_data)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2927
        vfree(priv->process_data);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2928
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2929
#if DEBUG_IOCTL
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2930
    EC_DBG("File closed.\n");
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2931
#endif
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2932
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2933
    kfree(priv);
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2934
    return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2935
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2936
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2937
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2938
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  2939
/** Called when an ioctl() command is issued.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  2940
 */
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  2941
long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  2942
{
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2943
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  2944
    ec_master_t *master = priv->cdev->master;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2945
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2946
#if DEBUG_IOCTL
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2947
    EC_DBG("ioctl(filp = 0x%x, cmd = 0x%08x (0x%02x), arg = 0x%x)\n",
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2948
            (u32) filp, (u32) cmd, (u32) _IOC_NR(cmd), (u32) arg);
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2949
#endif
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  2950
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2951
    switch (cmd) {
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  2952
        case EC_IOCTL_MASTER:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2953
            return ec_cdev_ioctl_master(master, arg);
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  2954
        case EC_IOCTL_SLAVE:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2955
            return ec_cdev_ioctl_slave(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2956
        case EC_IOCTL_SLAVE_SYNC:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2957
            return ec_cdev_ioctl_slave_sync(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2958
        case EC_IOCTL_SLAVE_SYNC_PDO:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2959
            return ec_cdev_ioctl_slave_sync_pdo(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2960
        case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2961
            return ec_cdev_ioctl_slave_sync_pdo_entry(master, arg);
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  2962
        case EC_IOCTL_DOMAIN:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2963
            return ec_cdev_ioctl_domain(master, arg);
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  2964
        case EC_IOCTL_DOMAIN_FMMU:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2965
            return ec_cdev_ioctl_domain_fmmu(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2966
        case EC_IOCTL_DOMAIN_DATA:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2967
            return ec_cdev_ioctl_domain_data(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2968
        case EC_IOCTL_MASTER_DEBUG:
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  2969
            if (!(filp->f_mode & FMODE_WRITE))
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  2970
                return -EPERM;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2971
            return ec_cdev_ioctl_master_debug(master, arg);
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  2972
        case EC_IOCTL_SLAVE_STATE:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2973
            if (!(filp->f_mode & FMODE_WRITE))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2974
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2975
            return ec_cdev_ioctl_slave_state(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2976
        case EC_IOCTL_SLAVE_SDO:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2977
            return ec_cdev_ioctl_slave_sdo(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2978
        case EC_IOCTL_SLAVE_SDO_ENTRY:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2979
            return ec_cdev_ioctl_slave_sdo_entry(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2980
        case EC_IOCTL_SLAVE_SDO_UPLOAD:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2981
            return ec_cdev_ioctl_slave_sdo_upload(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2982
        case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2983
            if (!(filp->f_mode & FMODE_WRITE))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2984
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2985
            return ec_cdev_ioctl_slave_sdo_download(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2986
        case EC_IOCTL_SLAVE_SII_READ:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2987
            return ec_cdev_ioctl_slave_sii_read(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2988
        case EC_IOCTL_SLAVE_SII_WRITE:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2989
            if (!(filp->f_mode & FMODE_WRITE))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2990
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  2991
            return ec_cdev_ioctl_slave_sii_write(master, arg);
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  2992
        case EC_IOCTL_SLAVE_REG_READ:
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  2993
            return ec_cdev_ioctl_slave_reg_read(master, arg);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  2994
        case EC_IOCTL_SLAVE_REG_WRITE:
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  2995
            if (!(filp->f_mode & FMODE_WRITE))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  2996
                return -EPERM;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  2997
            return ec_cdev_ioctl_slave_reg_write(master, arg);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2998
        case EC_IOCTL_SLAVE_FOE_READ:
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  2999
            return ec_cdev_ioctl_slave_foe_read(master, arg);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3000
        case EC_IOCTL_SLAVE_FOE_WRITE:
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3001
            if (!(filp->f_mode & FMODE_WRITE))
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3002
                return -EPERM;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3003
            return ec_cdev_ioctl_slave_foe_write(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3004
        case EC_IOCTL_CONFIG:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3005
            return ec_cdev_ioctl_config(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3006
        case EC_IOCTL_CONFIG_PDO:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3007
            return ec_cdev_ioctl_config_pdo(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3008
        case EC_IOCTL_CONFIG_PDO_ENTRY:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3009
            return ec_cdev_ioctl_config_pdo_entry(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3010
        case EC_IOCTL_CONFIG_SDO:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3011
            return ec_cdev_ioctl_config_sdo(master, arg);
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3012
        case EC_IOCTL_REQUEST:
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3013
            if (!(filp->f_mode & FMODE_WRITE))
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3014
				return -EPERM;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3015
			return ec_cdev_ioctl_request(master, arg, priv);
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  3016
        case EC_IOCTL_CREATE_DOMAIN:
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  3017
            if (!(filp->f_mode & FMODE_WRITE))
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  3018
				return -EPERM;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  3019
			return ec_cdev_ioctl_create_domain(master, arg, priv);
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  3020
        case EC_IOCTL_CREATE_SLAVE_CONFIG:
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  3021
            if (!(filp->f_mode & FMODE_WRITE))
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  3022
				return -EPERM;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  3023
			return ec_cdev_ioctl_create_slave_config(master, arg, priv);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3024
        case EC_IOCTL_ACTIVATE:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3025
            if (!(filp->f_mode & FMODE_WRITE))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3026
				return -EPERM;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3027
			return ec_cdev_ioctl_activate(master, arg, priv);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3028
        case EC_IOCTL_SEND:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3029
            if (!(filp->f_mode & FMODE_WRITE))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3030
				return -EPERM;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3031
			return ec_cdev_ioctl_send(master, arg, priv);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3032
        case EC_IOCTL_RECEIVE:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3033
            if (!(filp->f_mode & FMODE_WRITE))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3034
				return -EPERM;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3035
			return ec_cdev_ioctl_receive(master, arg, priv);
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3036
        case EC_IOCTL_MASTER_STATE:
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3037
			return ec_cdev_ioctl_master_state(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3038
        case EC_IOCTL_SC_SYNC:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3039
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3040
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3041
			return ec_cdev_ioctl_sc_sync(master, arg, priv);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3042
        case EC_IOCTL_SC_ADD_PDO:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3043
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3044
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3045
			return ec_cdev_ioctl_sc_add_pdo(master, arg, priv);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3046
        case EC_IOCTL_SC_CLEAR_PDOS:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3047
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3048
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3049
			return ec_cdev_ioctl_sc_clear_pdos(master, arg, priv);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3050
        case EC_IOCTL_SC_ADD_ENTRY:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3051
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3052
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3053
			return ec_cdev_ioctl_sc_add_entry(master, arg, priv);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3054
        case EC_IOCTL_SC_CLEAR_ENTRIES:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3055
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3056
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3057
			return ec_cdev_ioctl_sc_clear_entries(master, arg, priv);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3058
        case EC_IOCTL_SC_REG_PDO_ENTRY:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3059
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3060
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3061
			return ec_cdev_ioctl_sc_reg_pdo_entry(master, arg, priv);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3062
        case EC_IOCTL_SC_SDO:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3063
            if (!(filp->f_mode & FMODE_WRITE))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3064
				return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3065
			return ec_cdev_ioctl_sc_sdo(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3066
        case EC_IOCTL_SC_SDO_REQUEST:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3067
            if (!(filp->f_mode & FMODE_WRITE))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3068
				return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3069
			return ec_cdev_ioctl_sc_create_sdo_request(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3070
        case EC_IOCTL_SC_VOE:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3071
            if (!(filp->f_mode & FMODE_WRITE))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3072
				return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3073
			return ec_cdev_ioctl_sc_create_voe_handler(master, arg, priv);
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3074
        case EC_IOCTL_SC_STATE:
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3075
			return ec_cdev_ioctl_sc_state(master, arg, priv);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3076
        case EC_IOCTL_DOMAIN_OFFSET:
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3077
			return ec_cdev_ioctl_domain_offset(master, arg, priv);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3078
        case EC_IOCTL_DOMAIN_PROCESS:
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3079
            if (!(filp->f_mode & FMODE_WRITE))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3080
				return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3081
			return ec_cdev_ioctl_domain_process(master, arg, priv);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3082
        case EC_IOCTL_DOMAIN_QUEUE:
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3083
            if (!(filp->f_mode & FMODE_WRITE))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3084
				return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3085
			return ec_cdev_ioctl_domain_queue(master, arg, priv);
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3086
        case EC_IOCTL_DOMAIN_STATE:
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3087
			return ec_cdev_ioctl_domain_state(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3088
        case EC_IOCTL_SDO_REQUEST_TIMEOUT:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3089
            if (!(filp->f_mode & FMODE_WRITE))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3090
				return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3091
			return ec_cdev_ioctl_sdo_request_timeout(master, arg, priv);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3092
        case EC_IOCTL_SDO_REQUEST_STATE:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3093
			return ec_cdev_ioctl_sdo_request_state(master, arg, priv);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3094
        case EC_IOCTL_SDO_REQUEST_READ:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3095
            if (!(filp->f_mode & FMODE_WRITE))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3096
				return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3097
			return ec_cdev_ioctl_sdo_request_read(master, arg, priv);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3098
        case EC_IOCTL_SDO_REQUEST_WRITE:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3099
            if (!(filp->f_mode & FMODE_WRITE))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3100
				return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3101
			return ec_cdev_ioctl_sdo_request_write(master, arg, priv);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3102
        case EC_IOCTL_SDO_REQUEST_DATA:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3103
			return ec_cdev_ioctl_sdo_request_data(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3104
        case EC_IOCTL_VOE_SEND_HEADER:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3105
            if (!(filp->f_mode & FMODE_WRITE))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3106
				return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3107
			return ec_cdev_ioctl_voe_send_header(master, arg, priv);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3108
        case EC_IOCTL_VOE_REC_HEADER:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3109
			return ec_cdev_ioctl_voe_rec_header(master, arg, priv);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3110
        case EC_IOCTL_VOE_READ:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3111
            if (!(filp->f_mode & FMODE_WRITE))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3112
				return -EPERM;
1381
f592fe7e799d Fixed VoE ioctl().
Florian Pose <fp@igh-essen.com>
parents: 1379
diff changeset
  3113
			return ec_cdev_ioctl_voe_read(master, arg, priv);
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3114
        case EC_IOCTL_VOE_READ_NOSYNC:
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3115
            if (!(filp->f_mode & FMODE_WRITE))
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3116
				return -EPERM;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3117
			return ec_cdev_ioctl_voe_read_nosync(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3118
        case EC_IOCTL_VOE_WRITE:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3119
            if (!(filp->f_mode & FMODE_WRITE))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3120
				return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3121
			return ec_cdev_ioctl_voe_write(master, arg, priv);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3122
        case EC_IOCTL_VOE_EXEC:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3123
            if (!(filp->f_mode & FMODE_WRITE))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3124
				return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3125
			return ec_cdev_ioctl_voe_exec(master, arg, priv);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3126
        case EC_IOCTL_VOE_DATA:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3127
			return ec_cdev_ioctl_voe_data(master, arg, priv);
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3128
        default:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3129
            return -ENOTTY;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3130
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3131
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3132
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3133
/*****************************************************************************/
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3134
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3135
/** Memory-map callback for the EtherCAT character device.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3136
 *
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3137
 * The actual mapping will be done in the eccdev_vma_nopage() callback of the
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3138
 * virtual memory area.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3139
 */
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3140
int eccdev_mmap(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3141
        struct file *filp,
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3142
        struct vm_area_struct *vma
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3143
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3144
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3145
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3146
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3147
    if (priv->cdev->master->debug_level)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3148
        EC_DBG("mmap()\n");
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3149
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3150
    vma->vm_ops = &eccdev_vm_ops;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3151
    vma->vm_flags |= VM_RESERVED; /* Pages will not be swapped out */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3152
    vma->vm_private_data = priv;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3153
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3154
    return 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3155
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3156
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3157
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3158
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3159
#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3160
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3161
/** Page fault callback for a virtual memory area.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3162
 *
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3163
 * Called at the first access on a virtual-memory area retrieved with
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3164
 * ecdev_mmap().
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3165
 */
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3166
static int eccdev_vma_fault(
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3167
        struct vm_area_struct *vma, /**< Virtual memory area. */
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3168
        struct vm_fault *vmf /**< Fault data. */
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3169
        )
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3170
{
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3171
    unsigned long offset = vmf->pgoff << PAGE_SHIFT;
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3172
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) vma->vm_private_data;
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3173
    struct page *page;
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3174
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3175
    if (offset >= priv->process_data_size)
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3176
        return VM_FAULT_SIGBUS;
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3177
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3178
    page = vmalloc_to_page(priv->process_data + offset);
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3179
    if (!page)
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3180
        return VM_FAULT_SIGBUS;
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3181
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3182
    get_page(page);
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3183
    vmf->page = page;
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3184
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3185
    if (priv->cdev->master->debug_level)
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3186
        EC_DBG("Vma fault, virtual_address = %p, offset = %lu, page = %p\n",
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3187
                vmf->virtual_address, offset, page);
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3188
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3189
    return 0;
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3190
}
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3191
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3192
#else
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3193
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3194
/** Nopage callback for a virtual memory area.
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3195
 *
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3196
 * Called at the first access on a virtual-memory area retrieved with
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3197
 * ecdev_mmap().
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3198
 */
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3199
struct page *eccdev_vma_nopage(
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3200
        struct vm_area_struct *vma, /**< Virtual memory area initialized by
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3201
                                      the kernel. */
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3202
        unsigned long address, /**< Requested virtual address. */
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3203
        int *type /**< Type output parameter. */
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3204
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3205
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3206
    unsigned long offset;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3207
    struct page *page = NOPAGE_SIGBUS;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3208
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) vma->vm_private_data;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3209
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3210
    offset = (address - vma->vm_start) + (vma->vm_pgoff << PAGE_SHIFT);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3211
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3212
    if (offset >= priv->process_data_size)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3213
        return NOPAGE_SIGBUS;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3214
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3215
    page = vmalloc_to_page(priv->process_data + offset);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3216
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3217
    if (priv->cdev->master->debug_level)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3218
        EC_DBG("Nopage fault vma, address = %#lx, offset = %#lx, page = %p\n",
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3219
                address, offset, page);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3220
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3221
    get_page(page);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3222
    if (type)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3223
        *type = VM_FAULT_MINOR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3224
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3225
    return page;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3226
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3227
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3228
#endif
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3229
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3230
/*****************************************************************************/