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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

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

    12

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

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

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 *

    23

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

    24

 *  charge under condition of compatibility of product made by

    25

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

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

    27

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

    28

 *  EtherCAT specification (which are released themselves as an open

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

    30

 *  Technology, IP and trade marks.

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 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT master character device.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

#include <linux/vmalloc.h>

    43

#include <linux/mm.h>

    44

    45

#include "cdev.h"

    46

#include "master.h"

    47

#include "slave_config.h"

    48

#include "voe_handler.h"

    49

#include "ioctl.h"

    50

    51

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

    52

    53

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

    54

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

    55

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

    56

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

    57

    58

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

    59

 * vm_operations_struct is usable.

    60

 */

    61

#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)

    62

    63

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    64

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

    65

#else

    66

static struct page *eccdev_vma_nopage(

    67

        struct vm_area_struct *, unsigned long, int *);

    68

#endif

    69

    70

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

    71

    72

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

    73

 */

    74

static struct file_operations eccdev_fops = {

    75

    .owner          = THIS_MODULE,

    76

    .open           = eccdev_open,

    77

    .release        = eccdev_release,

    78

    .unlocked_ioctl = eccdev_ioctl,

    79

    .mmap           = eccdev_mmap

    80

};

    81

    82

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

    83

 */

    84

struct vm_operations_struct eccdev_vm_ops = {

    85

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    86

    .fault = eccdev_vma_fault

    87

#else

    88

    .nopage = eccdev_vma_nopage

    89

#endif

    90

};

    91

    92

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

    93

    94

/** Private data structure for file handles.

    95

 */

    96

typedef struct {

    97

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

    98

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

    99

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

   100

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

   101

} ec_cdev_priv_t;

   102

   103

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

   104

   105

/** Constructor.

   106

 * 

   107

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

   108

 */

   109

int ec_cdev_init(

   110

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

   111

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

   112

		dev_t dev_num /**< Device number. */

   113

		)

   114

{

   117

    cdev->master = master;

   118

   119

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

   120

    cdev->cdev.owner = THIS_MODULE;

   121

   125

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

   129

}

   130

   131

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

   132

   133

/** Destructor.

   134

 */

   135

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

   136

{

   137

    cdev_del(&cdev->cdev);

   138

}

   139

   140

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

   141

   142

/** Copies a string to an ioctl structure.

   143

 */

   144

void ec_cdev_strcpy(

   145

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

   146

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

   147

        )

   148

{

   149

    if (source) {

   150

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   151

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   152

    } else {

   153

        target[0] = 0;

   154

    }

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}

   156

   157

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

   158

   159

/** Get master information.

   160

 */

   161

int ec_cdev_ioctl_master(

   162

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

   163

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

   164

        )

   165

{

   166

    ec_ioctl_master_t data;

   167

   168

    if (down_interruptible(&master->master_sem))

   169

        return -EINTR;

   170

    data.slave_count = master->slave_count;

   171

    data.config_count = ec_master_config_count(master);

   172

    data.domain_count = ec_master_domain_count(master);

   173

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

   174

    up(&master->master_sem);

   175

   176

    if (down_interruptible(&master->device_sem))

   177

        return -EINTR;

   178

    if (master->main_device.dev) {

   179

        memcpy(data.devices[0].address,

   180

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

   181

    } else {

   182

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

   183

    }

   184

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

   185

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

   186

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

   187

   188

    if (master->backup_device.dev) {

   189

        memcpy(data.devices[1].address,

   190

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

   191

    } else {

   192

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

   193

    }

   194

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

   195

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

   196

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

   197

    up(&master->device_sem);

   198

   199

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

   200

        return -EFAULT;

   201

   202

    return 0;

   203

}

   204

   205

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

   206

   207

/** Get slave information.

   208

 */

   209

int ec_cdev_ioctl_slave(

   210

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

   211

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

   212

        )

   213

{

   214

    ec_ioctl_slave_t data;

   215

    const ec_slave_t *slave;

   216

   217

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

   218

        return -EFAULT;

   219

    }

   220

   221

    if (down_interruptible(&master->master_sem))

   222

        return -EINTR;

   223

   224

    if (!(slave = ec_master_find_slave_const(

   225

                    master, 0, data.position))) {

   226

        up(&master->master_sem);

   227

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

   228

        return -EINVAL;

   229

    }

   230

   231

    data.vendor_id = slave->sii.vendor_id;

   232

    data.product_code = slave->sii.product_code;

   233

    data.revision_number = slave->sii.revision_number;

   234

    data.serial_number = slave->sii.serial_number;

   235

    data.alias = slave->sii.alias;

   236

    data.rx_mailbox_offset = slave->sii.rx_mailbox_offset;

   237

    data.rx_mailbox_size = slave->sii.rx_mailbox_size;

   238

    data.tx_mailbox_offset = slave->sii.tx_mailbox_offset;

   239

    data.tx_mailbox_size = slave->sii.tx_mailbox_size;

   240

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   241

    data.has_general_category = slave->sii.has_general;

   242

    data.coe_details = slave->sii.coe_details;

   243

    data.general_flags = slave->sii.general_flags;

   244

    data.current_on_ebus = slave->sii.current_on_ebus;

   245

    data.al_state = slave->current_state;

   246

    data.error_flag = slave->error_flag;

   247

   248

    data.sync_count = slave->sii.sync_count;

   249

    data.sdo_count = ec_slave_sdo_count(slave);

   250

    data.sii_nwords = slave->sii_nwords;

   251

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

   252

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

   253

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

   254

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

   255

   256

    up(&master->master_sem);

   257

   258

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

   259

        return -EFAULT;

   260

   261

    return 0;

   262

}

   263

   264

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

   265

   266

/** Get slave sync manager information.

   267

 */

   268

int ec_cdev_ioctl_slave_sync(

   269

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

   270

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

   271

        )

   272

{

   273

    ec_ioctl_slave_sync_t data;

   274

    const ec_slave_t *slave;

   275

    const ec_sync_t *sync;

   276

   277

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

   278

        return -EFAULT;

   279

    }

   280

   281

    if (down_interruptible(&master->master_sem))

   282

        return -EINTR;

   283

   284

    if (!(slave = ec_master_find_slave_const(

   285

                    master, 0, data.slave_position))) {

   286

        up(&master->master_sem);

   287

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

   288

        return -EINVAL;

   289

    }

   290

   291

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

   292

        up(&master->master_sem);

   293

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

   294

                data.sync_index, data.slave_position);

   295

        return -EINVAL;

   296

    }

   297

   298

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

   299

   300

    data.physical_start_address = sync->physical_start_address;

   301

    data.default_size = sync->default_length;

   302

    data.control_register = sync->control_register;

   303

    data.enable = sync->enable;

   304

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

   305

   306

    up(&master->master_sem);

   307

   308

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

   309

        return -EFAULT;

   310

   311

    return 0;

   312

}

   313

   314

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

   315

   316

/** Get slave sync manager Pdo information.

   317

 */

   318

int ec_cdev_ioctl_slave_sync_pdo(

   319

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

   320

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

   321

        )

   322

{

   323

    ec_ioctl_slave_sync_pdo_t data;

   324

    const ec_slave_t *slave;

   325

    const ec_sync_t *sync;

   326

    const ec_pdo_t *pdo;

   327

   328

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

   329

        return -EFAULT;

   330

    }

   331

   332

    if (down_interruptible(&master->master_sem))

   333

        return -EINTR;

   334

   335

    if (!(slave = ec_master_find_slave_const(

   336

                    master, 0, data.slave_position))) {

   337

        up(&master->master_sem);

   338

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

   339

        return -EINVAL;

   340

    }

   341

   342

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

   343

        up(&master->master_sem);

   344

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

   345

                data.sync_index, data.slave_position);

   346

        return -EINVAL;

   347

    }

   348

   349

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

   350

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   351

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

   352

        up(&master->master_sem);

   353

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

   354

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

   355

                data.pdo_pos, data.slave_position);

   356

        return -EINVAL;

   357

    }

   358

   359

    data.index = pdo->index;

   360

    data.entry_count = ec_pdo_entry_count(pdo);

   361

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

   362

   363

    up(&master->master_sem);

   364

   365

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

   366

        return -EFAULT;

   367

   368

    return 0;

   369

}

   370

   371

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

   372

   373

/** Get slave sync manager Pdo entry information.

   374

 */

   375

int ec_cdev_ioctl_slave_sync_pdo_entry(

   376

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

   377

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

   378

        )

   379

{

   380

    ec_ioctl_slave_sync_pdo_entry_t data;

   381

    const ec_slave_t *slave;

   382

    const ec_sync_t *sync;

   383

    const ec_pdo_t *pdo;

   384

    const ec_pdo_entry_t *entry;

   385

   386

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

   387

        return -EFAULT;

   388

    }

   389

   390

    if (down_interruptible(&master->master_sem))

   391

        return -EINTR;

   392

   393

    if (!(slave = ec_master_find_slave_const(

   394

                    master, 0, data.slave_position))) {

   395

        up(&master->master_sem);

   396

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

   397

        return -EINVAL;

   398

    }

   399

   400

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

   401

        up(&master->master_sem);

   402

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

   403

                data.sync_index, data.slave_position);

   404

        return -EINVAL;

   405

    }

   406

   407

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

   408

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   409

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

   410

        up(&master->master_sem);

   411

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

   412

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

   413

                data.pdo_pos, data.slave_position);

   414

        return -EINVAL;

   415

    }

   416

   417

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   418

                    pdo, data.entry_pos))) {

   419

        up(&master->master_sem);

   420

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

   421

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

   422

                data.entry_pos, data.slave_position);

   423

        return -EINVAL;

   424

    }

   425

   426

    data.index = entry->index;

   427

    data.subindex = entry->subindex;

   428

    data.bit_length = entry->bit_length;

   429

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

   430

   431

    up(&master->master_sem);

   432

   433

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

   434

        return -EFAULT;

   435

   436

    return 0;

   437

}

   438

   439

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

   440

   441

/** Get domain information.

   442

 */

   443

int ec_cdev_ioctl_domain(

   444

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

   445

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

   446

        )

   447

{

   448

    ec_ioctl_domain_t data;

   449

    const ec_domain_t *domain;

   450

   451

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

   452

        return -EFAULT;

   453

    }

   454

   455

    if (down_interruptible(&master->master_sem))

   456

        return -EINTR;

   457

   458

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

   459

        up(&master->master_sem);

   460

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

   461

        return -EINVAL;

   462

    }

   463

   464

    data.data_size = domain->data_size;

   465

    data.logical_base_address = domain->logical_base_address;

   466

    data.working_counter = domain->working_counter;

   467

    data.expected_working_counter = domain->expected_working_counter;

   468

    data.fmmu_count = ec_domain_fmmu_count(domain);

   469

   470

    up(&master->master_sem);

   471

   472

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

   473

        return -EFAULT;

   474

   475

    return 0;

   476

}

   477

   478

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

   479

   480

/** Get domain FMMU information.

   481

 */

   482

int ec_cdev_ioctl_domain_fmmu(

   483

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

   484

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

   485

        )

   486

{

   487

    ec_ioctl_domain_fmmu_t data;

   488

    const ec_domain_t *domain;

   489

    const ec_fmmu_config_t *fmmu;

   490

   491

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

   492

        return -EFAULT;

   493

    }

   494

   495

    if (down_interruptible(&master->master_sem))

   496

        return -EINTR;

   497

   498

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