1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

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

    16

 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    22

 *  ---

    23

 *

    24

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

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master character device.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/vmalloc.h>

    39

#include <linux/mm.h>

    40

    41

#include "cdev.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

#include "voe_handler.h"

    45

#include "ethernet.h"

    46

#include "ioctl.h"

    47

    48

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

    49

 */

    50

#define DEBUG_IOCTL 0

    51

    52

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

    53

    54

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

    55

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

    56

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

    57

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

    58

    59

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

    60

 * vm_operations_struct is usable.

    61

 */

    62

#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)

    63

    64

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    65

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

    66

#else

    67

static struct page *eccdev_vma_nopage(

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        struct vm_area_struct *, unsigned long, int *);

    69

#endif

    70

    71

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

    72

    73

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

    74

 */

    75

static struct file_operations eccdev_fops = {

    76

    .owner          = THIS_MODULE,

    77

    .open           = eccdev_open,

    78

    .release        = eccdev_release,

    79

    .unlocked_ioctl = eccdev_ioctl,

    80

    .mmap           = eccdev_mmap

    81

};

    82

    83

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

    84

 */

    85

struct vm_operations_struct eccdev_vm_ops = {

    86

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    87

    .fault = eccdev_vma_fault

    88

#else

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    .nopage = eccdev_vma_nopage

    90

#endif

    91

};

    92

    93

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

    94

    95

/** Private data structure for file handles.

    96

 */

    97

typedef struct {

    98

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

    99

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

   100

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

   101

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

   102

} ec_cdev_priv_t;

   103

   104

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

   105

   106

/** Constructor.

   107

 * 

   108

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

   109

 */

   110

int ec_cdev_init(

   111

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

   112

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

   113

        dev_t dev_num /**< Device number. */

   114

        )

   115

{

   116

    int ret;

   117

   118

    cdev->master = master;

   119

   120

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

   121

    cdev->cdev.owner = THIS_MODULE;

   122

   123

    ret = cdev_add(&cdev->cdev,

   124

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

   125

    if (ret) {

   126

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

   127

    }

   128

   129

    return ret;

   130

}

   131

   132

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

   133

   134

/** Destructor.

   135

 */

   136

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

   137

{

   138

    cdev_del(&cdev->cdev);

   139

}

   140

   141

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

   142

   143

/** Copies a string to an ioctl structure.

   144

 */

   145

void ec_cdev_strcpy(

   146

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

   147

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

   148

        )

   149

{

   150

    if (source) {

   151

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   152

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   153

    } else {

   154

        target[0] = 0;

   155

    }

   156

}

   157

   158

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

   159

   179

/** Get master information.

   180

 */

   181

int ec_cdev_ioctl_master(

   182

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

   183

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

   184

        )

   185

{

   186

    ec_ioctl_master_t data;

   187

   188

    if (down_interruptible(&master->master_sem))

   189

        return -EINTR;

   190

    data.slave_count = master->slave_count;

   191

    data.config_count = ec_master_config_count(master);

   192

    data.domain_count = ec_master_domain_count(master);

   193

#ifdef EC_EOE

   194

    data.eoe_handler_count = ec_master_eoe_handler_count(master);

   195

#endif

   196

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

   197

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

   198

    data.scan_busy = master->scan_busy;

   199

    up(&master->master_sem);

   200

   201

    if (down_interruptible(&master->device_sem))

   202

        return -EINTR;

   203

   204

    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);

   207

    } else {

   208

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

   209

    }

   210

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

   211

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

   212

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

   213

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

   214

   215

    if (master->backup_device.dev) {

   216

        memcpy(data.devices[1].address,

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

   218

    } else {

   219

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

   220

    }

   221

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

   222

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

   223

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

   224

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

   225

   226

    up(&master->device_sem);

   227

   228

    data.app_time = master->app_time;

   229

    data.ref_clock =

   230

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

   231

   232

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

   233

        return -EFAULT;

   234

   235

    return 0;

   236

}

   237

   238

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

   239

   240

/** Get slave information.

   241

 */

   242

int ec_cdev_ioctl_slave(

   243

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

   244

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

   245

        )

   246

{

   247

    ec_ioctl_slave_t data;

   248

    const ec_slave_t *slave;

   249

    int i;

   250

   251

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

   252

        return -EFAULT;

   253

    }

   254

   255

    if (down_interruptible(&master->master_sem))

   256

        return -EINTR;

   257

   258

    if (!(slave = ec_master_find_slave_const(

   259

                    master, 0, data.position))) {

   260

        up(&master->master_sem);

   261

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

   262

        return -EINVAL;

   263

    }

   264

   265

    data.vendor_id = slave->sii.vendor_id;

   266

    data.product_code = slave->sii.product_code;

   267

    data.revision_number = slave->sii.revision_number;

   268

    data.serial_number = slave->sii.serial_number;

   269

    data.alias = slave->sii.alias;

   270

    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;

   271

    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;

   272

    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;

   273

    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;

   276

    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;

   277

    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;

   278

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   279

    data.has_general_category = slave->sii.has_general;

   280

    data.coe_details = slave->sii.coe_details;

   281

    data.general_flags = slave->sii.general_flags;

   282

    data.current_on_ebus = slave->sii.current_on_ebus;

   283

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

   284

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

   285

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

   286

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

   287

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

   288

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

   289

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

   290

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

   291

        } else {

   292

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

   293

        }

   294

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

   295

    }

   296

    data.fmmu_bit = slave->base_fmmu_bit_operation;

   297

    data.dc_supported = slave->base_dc_supported;

   298

    data.dc_range = slave->base_dc_range;

   299

    data.has_dc_system_time = slave->has_dc_system_time;

   300

    data.transmission_delay = slave->transmission_delay;

   301

    data.al_state = slave->current_state;

   302

    data.error_flag = slave->error_flag;

   303

   304

    data.sync_count = slave->sii.sync_count;

   305

    data.sdo_count = ec_slave_sdo_count(slave);

   306

    data.sii_nwords = slave->sii_nwords;

   307

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

   308

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

   309

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

   310

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

   311

   312

    up(&master->master_sem);

   313

   314

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

   315

        return -EFAULT;

   316

   317

    return 0;

   318

}

   319

   320

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

   321

   322

/** Get slave sync manager information.

   323

 */

   324

int ec_cdev_ioctl_slave_sync(

   325

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

   326

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

   327

        )

   328

{

   329

    ec_ioctl_slave_sync_t data;

   330

    const ec_slave_t *slave;

   331

    const ec_sync_t *sync;

   332

   333

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

   334

        return -EFAULT;

   335

    }

   336

   337

    if (down_interruptible(&master->master_sem))

   338

        return -EINTR;

   339

   340

    if (!(slave = ec_master_find_slave_const(

   341

                    master, 0, data.slave_position))) {

   342

        up(&master->master_sem);

   343

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

   344

        return -EINVAL;

   345

    }

   346

   347

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

   348

        up(&master->master_sem);

   349

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

   350

                data.sync_index, data.slave_position);

   351

        return -EINVAL;

   352

    }

   353

   354

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

   355

   356

    data.physical_start_address = sync->physical_start_address;

   357

    data.default_size = sync->default_length;

   358

    data.control_register = sync->control_register;

   359

    data.enable = sync->enable;

   360

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

   361

   362

    up(&master->master_sem);

   363

   364

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

   365

        return -EFAULT;

   366

   367

    return 0;

   368

}

   369

   370

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

   371

   372

/** Get slave sync manager PDO information.

   373

 */

   374

int ec_cdev_ioctl_slave_sync_pdo(

   375

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

   376

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

   377

        )

   378

{

   379

    ec_ioctl_slave_sync_pdo_t data;

   380

    const ec_slave_t *slave;

   381

    const ec_sync_t *sync;

   382

    const ec_pdo_t *pdo;

   383

   384

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

   385

        return -EFAULT;

   386

    }

   387

   388

    if (down_interruptible(&master->master_sem))

   389

        return -EINTR;

   390

   391

    if (!(slave = ec_master_find_slave_const(

   392

                    master, 0, data.slave_position))) {

   393

        up(&master->master_sem);

   394

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

   395

        return -EINVAL;

   396

    }

   397

   398

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

   399

        up(&master->master_sem);

   400

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

   401

                data.sync_index, data.slave_position);

   402

        return -EINVAL;

   403

    }

   404

   405

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

   406

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   407

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

   408

        up(&master->master_sem);

   409

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

   410

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

   411

                data.pdo_pos, data.slave_position);

   412

        return -EINVAL;

   413

    }

   414

   415

    data.index = pdo->index;

   416

    data.entry_count = ec_pdo_entry_count(pdo);

   417

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

   418

   419

    up(&master->master_sem);

   420

   421

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

   422

        return -EFAULT;

   423

   424

    return 0;

   425

}

   426

   427

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

   428

   429

/** Get slave sync manager PDO entry information.

   430

 */

   431

int ec_cdev_ioctl_slave_sync_pdo_entry(

   432

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

   433

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

   434

        )

   435

{

   436

    ec_ioctl_slave_sync_pdo_entry_t data;

   437

    const ec_slave_t *slave;

   438

    const ec_sync_t *sync;

   439

    const ec_pdo_t *pdo;

   440

    const ec_pdo_entry_t *entry;

   441

   442

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

   443

        return -EFAULT;

   444

    }

   445

   446

    if (down_interruptible(&master->master_sem))

   447

        return -EINTR;

   448

   449

    if (!(slave = ec_master_find_slave_const(

   450

                    master, 0, data.slave_position))) {

   451

        up(&master->master_sem);

   452

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

   453

        return -EINVAL;

   454

    }

   455

   456

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

   457

        up(&master->master_sem);

   458

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

   459

                data.sync_index, data.slave_position);

   460

        return -EINVAL;

   461

    }

   462

   463

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

   464

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   465

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

   466

        up(&master->master_sem);

   467

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

   468

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

   469

                data.pdo_pos, data.slave_position);

   470

        return -EINVAL;

   471

    }

   472

   473

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   474

                    pdo, data.entry_pos))) {

   475

        up(&master->master_sem);

   476

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

   477

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

   478

                data.entry_pos, data.slave_position);

   479

        return -EINVAL;

   480

    }

   481

   482

    data.index = entry->index;

   483

    data.subindex = entry->subindex;

   484

    data.bit_length = entry->bit_length;

   485

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

   486

   487

    up(&master->master_sem);

   488

   489

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

   490

        return -EFAULT;

   491

   492

    return 0;

   493