master/cdev.c
author Martin Troxler <ch1010277@ch10pc446>
Thu, 16 Dec 2010 11:29:23 +0100
changeset 2021 ee30e7f90c2e
parent 2004 be807e224b0e
child 2023 da133ec36c3a
permissions -rw-r--r--
removed now obsolete ext_datagram_queu
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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 "ethernet.h"
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#include "ioctl.h"
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/** Set to 1 to enable ioctl() command debugging.
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 */
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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_MASTER_ERR(master, "Failed to add character device!\n");
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    }
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    return ret;
922
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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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   153
    } else {
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        target[0] = 0;
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    }
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}
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/*****************************************************************************/
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1826
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/** Get module information.
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 */
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int ec_cdev_ioctl_module(
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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_module_t data;
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    data.ioctl_version_magic = EC_IOCTL_VERSION_MAGIC;
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    data.master_count = ec_master_count();
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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 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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    unsigned int i;
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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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   194
#ifdef EC_EOE
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   195
    data.eoe_handler_count = ec_master_eoe_handler_count(master);
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   196
#endif
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    data.phase = (uint8_t) master->phase;
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    data.active = (uint8_t) master->active;
1447
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    data.scan_busy = master->scan_busy;
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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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   208
    } else {
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        memcpy(data.devices[0].address, master->main_mac, ETH_ALEN); 
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   210
    }
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    data.devices[0].attached = master->main_device.dev ? 1 : 0;
1401
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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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    data.devices[0].tx_bytes = master->main_device.tx_bytes;
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    data.devices[0].tx_errors = master->main_device.tx_errors;
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    for (i = 0; i < EC_RATE_COUNT; i++) {
1857
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   218
        data.devices[0].tx_frame_rates[i] =
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   219
            master->main_device.tx_frame_rates[i];
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   220
        data.devices[0].tx_byte_rates[i] =
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   221
            master->main_device.tx_byte_rates[i];
1851
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   222
        data.devices[0].loss_rates[i] = master->main_device.loss_rates[i];
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   223
    }
1162
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   224
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   225
    if (master->backup_device.dev) {
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   226
        memcpy(data.devices[1].address,
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   227
                master->backup_device.dev->dev_addr, ETH_ALEN); 
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diff changeset
   228
    } else {
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   229
        memcpy(data.devices[1].address, master->backup_mac, ETH_ALEN); 
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   230
    }
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   231
    data.devices[1].attached = master->backup_device.dev ? 1 : 0;
1401
96baef8a3162 Output link state in 'ethercat master'.
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   232
    data.devices[1].link_state = master->backup_device.link_state ? 1 : 0;
1079
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   233
    data.devices[1].tx_count = master->backup_device.tx_count;
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diff changeset
   234
    data.devices[1].rx_count = master->backup_device.rx_count;
1857
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   235
    data.devices[1].tx_bytes = master->backup_device.tx_bytes;
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   236
    data.devices[1].tx_errors = master->backup_device.tx_errors;
1851
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   237
    for (i = 0; i < EC_RATE_COUNT; i++) {
1857
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   238
        data.devices[1].tx_frame_rates[i] =
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diff changeset
   239
            master->backup_device.tx_frame_rates[i];
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   240
        data.devices[1].tx_byte_rates[i] =
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   241
            master->backup_device.tx_byte_rates[i];
1851
a56bd34e20a1 Frame statistics in 'ethercat master' output.
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   242
        data.devices[1].loss_rates[i] = master->backup_device.loss_rates[i];
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   243
    }
1415
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   244
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   245
    up(&master->device_sem);
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   246
1415
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'.
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   247
    data.app_time = master->app_time;
1435
f1df39224f49 Take ref clock address from dc_ref_clock pointer.
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diff changeset
   248
    data.ref_clock =
f1df39224f49 Take ref clock address from dc_ref_clock pointer.
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   249
        master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff;
1415
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'.
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   250
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   251
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
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        return -EFAULT;
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   253
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   254
    return 0;
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   255
}
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   256
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   257
/*****************************************************************************/
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   258
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   259
/** Get slave information.
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   260
 */
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   261
int ec_cdev_ioctl_slave(
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   262
        ec_master_t *master, /**< EtherCAT master. */
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   263
        unsigned long arg /**< Userspace address to store the results. */
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   264
        )
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   265
{
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   266
    ec_ioctl_slave_t data;
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   267
    const ec_slave_t *slave;
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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   268
    int i;
1079
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   269
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   270
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
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   271
        return -EFAULT;
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   272
    }
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1189
acc6430bfb32 Use down_interruptible() wherever possible.
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   274
    if (down_interruptible(&master->master_sem))
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   275
        return -EINTR;
1079
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   276
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   277
    if (!(slave = ec_master_find_slave_const(
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   278
                    master, 0, data.position))) {
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   279
        up(&master->master_sem);
1921
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   280
        EC_MASTER_ERR(master, "Slave %u does not exist!\n", data.position);
1079
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        return -EINVAL;
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   282
    }
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   283
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    data.vendor_id = slave->sii.vendor_id;
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   285
    data.product_code = slave->sii.product_code;
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   286
    data.revision_number = slave->sii.revision_number;
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   287
    data.serial_number = slave->sii.serial_number;
1909
ea3eb4c74c1b Introduced effective_alias variable to separate reg12 alias from SII alias.
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   288
    data.alias = slave->effective_alias;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   289
    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;
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   290
    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   291
    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;
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   292
    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   293
    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;
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   294
    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;
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   295
    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;
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diff changeset
   296
    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;
1079
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   297
    data.mailbox_protocols = slave->sii.mailbox_protocols;
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   298
    data.has_general_category = slave->sii.has_general;
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   299
    data.coe_details = slave->sii.coe_details;
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   300
    data.general_flags = slave->sii.general_flags;
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   301
    data.current_on_ebus = slave->sii.current_on_ebus;
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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   302
    for (i = 0; i < EC_MAX_PORTS; i++) {
1425
c1322a8793c0 Transition delay calculation. TBC...
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   303
        data.ports[i].desc = slave->ports[i].desc;
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   304
        data.ports[i].link.link_up = slave->ports[i].link.link_up;
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diff changeset
   305
        data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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diff changeset
   306
        data.ports[i].link.signal_detected =
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   307
            slave->ports[i].link.signal_detected;
1425
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   308
        data.ports[i].receive_time = slave->ports[i].receive_time;
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diff changeset
   309
        if (slave->ports[i].next_slave) {
1831
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diff changeset
   310
            data.ports[i].next_slave =
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diff changeset
   311
                slave->ports[i].next_slave->ring_position;
1421
043a518831b2 Bus topology calculation.
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diff changeset
   312
        } else {
1425
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   313
            data.ports[i].next_slave = 0xffff;
1421
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diff changeset
   314
        }
1425
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diff changeset
   315
        data.ports[i].delay_to_next_dc = slave->ports[i].delay_to_next_dc;
1379
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diff changeset
   316
    }
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diff changeset
   317
    data.fmmu_bit = slave->base_fmmu_bit_operation;
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diff changeset
   318
    data.dc_supported = slave->base_dc_supported;
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diff changeset
   319
    data.dc_range = slave->base_dc_range;
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
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diff changeset
   320
    data.has_dc_system_time = slave->has_dc_system_time;
1426
af45bba80d85 Transition->Transmission.
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diff changeset
   321
    data.transmission_delay = slave->transmission_delay;
1148
1762296870bd Renamed state field to al_state.
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diff changeset
   322
    data.al_state = slave->current_state;
1079
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diff changeset
   323
    data.error_flag = slave->error_flag;
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diff changeset
   324
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   325
    data.sync_count = slave->sii.sync_count;
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diff changeset
   326
    data.sdo_count = ec_slave_sdo_count(slave);
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diff changeset
   327
    data.sii_nwords = slave->sii_nwords;
1109
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents: 1108
diff changeset
   328
    ec_cdev_strcpy(data.group, slave->sii.group);
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
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diff changeset
   329
    ec_cdev_strcpy(data.image, slave->sii.image);
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
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diff changeset
   330
    ec_cdev_strcpy(data.order, slave->sii.order);
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
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diff changeset
   331
    ec_cdev_strcpy(data.name, slave->sii.name);
1079
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diff changeset
   332
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diff changeset
   333
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   334
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   335
    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
   336
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   337
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   338
    return 0;
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diff changeset
   339
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   340
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   341
/*****************************************************************************/
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diff changeset
   342
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   343
/** Get slave sync manager information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   344
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   345
int ec_cdev_ioctl_slave_sync(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   346
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   347
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   348
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   349
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   350
    ec_ioctl_slave_sync_t data;
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diff changeset
   351
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   352
    const ec_sync_t *sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   353
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   354
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   355
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
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diff changeset
   356
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   357
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   358
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   359
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
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diff changeset
   360
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
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diff changeset
   361
    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
   362
                    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
   363
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   364
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   365
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   366
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   367
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   368
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   369
    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
   370
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   371
        EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   372
                data.sync_index);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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parents: 1075
diff changeset
   373
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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parents: 1075
diff changeset
   374
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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parents: 1075
diff changeset
   375
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   376
    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
   377
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   378
    data.physical_start_address = sync->physical_start_address;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   379
    data.default_size = sync->default_length;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   380
    data.control_register = sync->control_register;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   381
    data.enable = sync->enable;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   382
    data.pdo_count = ec_pdo_list_count(&sync->pdos);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   383
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   384
    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
   385
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   386
    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
   387
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   388
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   389
    return 0;
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
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   392
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   393
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   394
/** Get slave sync manager PDO information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   395
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   396
int ec_cdev_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
   397
        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
   398
        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
   399
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   400
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   401
    ec_ioctl_slave_sync_pdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   402
    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
   403
    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
   404
    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
   405
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   406
    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
   407
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   408
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   409
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   410
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   411
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   412
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   413
    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
   414
                    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
   415
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   416
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   417
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   418
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   419
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   420
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   421
    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
   422
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   423
        EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   424
                data.sync_index);
1079
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
    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
   429
    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
   430
                    &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
   431
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   432
        EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   433
                "position %u!\n", data.sync_index, data.pdo_pos);
1079
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 = pdo->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   438
    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
   439
    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
   440
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   441
    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
   442
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   443
    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
   444
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   445
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   446
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   447
}
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
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   451
/** 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
   452
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   453
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
   454
        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
   455
        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
   456
        )
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
    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
   459
    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
   460
    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
   461
    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
   462
    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
   463
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   464
    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
   465
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   466
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   467
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   468
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   469
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   470
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   471
    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
   472
                    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
   473
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   474
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   475
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   476
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   477
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   478
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   479
    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
   480
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   481
        EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   482
                data.sync_index);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   483
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   484
    }
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
    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
   487
    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
   488
                    &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
   489
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   490
        EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   491
                "position %u!\n", data.sync_index, data.pdo_pos);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   492
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   493
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   494
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   495
    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
   496
                    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
   497
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   498
        EC_SLAVE_ERR(slave, "PDO 0x%04X does not contain an entry with "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   499
                "position %u!\n", data.pdo_pos, data.entry_pos);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   500
        return -EINVAL;
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
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   503
    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
   504
    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
   505
    data.bit_length = entry->bit_length;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   506
    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
   507
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   508
    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
   509
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   510
    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
   511
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   512
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   513
    return 0;
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
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   516
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   517
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   518
/** Get domain information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   519
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   520
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
   521
        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
   522
        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
   523
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   524
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   525
    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
   526
    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
   527
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   528
    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
   529
        return -EFAULT;
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
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   532
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   533
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   534
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   535
    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
   536
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   537
        EC_MASTER_ERR(master, "Domain %u does not exist!\n", data.index);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   538
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   539
    }
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
    data.data_size = domain->data_size;
1984
02c8728bf9e4 Inplace I/O: fixed domain command (fmmu logical_address -> domain_address); show domain tx size
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1981
diff changeset
   542
    data.tx_size = domain->tx_size;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   543
    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
   544
    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
   545
    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
   546
    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
   547
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   548
    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
   549
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   550
    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
   551
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   552
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   553
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   554
}
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
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   557
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   558
/** 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
   559
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   560
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
   561
        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
   562
        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
   563
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   564
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   565
    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
   566
    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
   567
    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
   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_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
   570
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   571
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   572
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   573
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   574
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   575
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   576
    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
   577
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   578
        EC_MASTER_ERR(master, "Domain %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   579
                data.domain_index);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   580
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   581
    }
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
    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
   584
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   585
        EC_MASTER_ERR(master, "Domain %u has less than %u"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   586
                " fmmu configurations.\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   587
                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
   588
        return -EINVAL;
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
    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
   592
    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
   593
    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
   594
    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
   595
    data.logical_address = fmmu->logical_start_address;
1984
02c8728bf9e4 Inplace I/O: fixed domain command (fmmu logical_address -> domain_address); show domain tx size
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1981
diff changeset
   596
    data.domain_address = fmmu->domain_address;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   597
    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
   598
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   599
    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
   600
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   601
    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
   602
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   603
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   604
    return 0;
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
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   607
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   608
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   609
/** Get domain data.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   610
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   611
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
   612
        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
   613
        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
   614
        )
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
    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
   617
    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
   618
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   619
    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
   620
        return -EFAULT;
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
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   623
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   624
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   625
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   626
    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
   627
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   628
        EC_MASTER_ERR(master, "Domain %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   629
                data.domain_index);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   630
        return -EINVAL;
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
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   633
    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
   634
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   635
        EC_MASTER_ERR(master, "Data size mismatch %u/%zu!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   636
                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
   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
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   640
    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
   641
                domain->data_size)) {
6d539205114e Added missing up().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   642
        up(&master->master_sem);
6d539205114e Added missing up().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   643
        return -EFAULT;
6d539205114e Added missing up().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   644
    }
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   645
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   646
    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
   647
    return 0;
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
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   651
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   652
/** 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
   653
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   654
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
   655
        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
   656
        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
   657
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   658
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   659
    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
   660
}
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
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   663
1961
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   664
/** Issue a bus scan.
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   665
 */
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   666
int ec_cdev_ioctl_master_rescan(
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   667
        ec_master_t *master, /**< EtherCAT master. */
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   668
        unsigned long arg /**< ioctl() argument. */
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   669
        )
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   670
{
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   671
    master->fsm.rescan_required = 1;
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   672
    return 0;
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   673
}
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   674
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   675
/*****************************************************************************/
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   676
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   677
/** Set slave state.
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
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
   680
        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
   681
        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
   682
        )
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
    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
   685
    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
   686
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   687
    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
   688
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   689
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   690
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   691
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   692
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   693
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   694
    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
   695
                    master, 0, data.slave_position))) {
1196
a27966f01b72 Fixed missing up().
Florian Pose <fp@igh-essen.com>
parents: 1189
diff changeset
   696
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   697
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   698
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   699
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   700
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   701
1150
c589b54ade01 Fixed requested_state.
Florian Pose <fp@igh-essen.com>
parents: 1148
diff changeset
   702
    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
   703
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   704
    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
   705
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   706
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   707
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   708
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   709
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   710
/** 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
   711
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   712
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
   713
        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
   714
        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
   715
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   716
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   717
    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
   718
    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
   719
    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
   720
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   721
    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
   722
        return -EFAULT;
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
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   725
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   726
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   727
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   728
    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
   729
                    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
   730
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   731
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   732
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   733
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   734
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   735
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   736
    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
   737
                    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
   738
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   739
        EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", data.sdo_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   740
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   741
    }
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
    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
   744
    data.max_subindex = sdo->max_subindex;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   745
    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
   746
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   747
    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
   748
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   749
    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
   750
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   751
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   752
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   753
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   754
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   755
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   756
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   757
/** 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
   758
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   759
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
   760
        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
   761
        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
   762
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   763
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   764
    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
   765
    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
   766
    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
   767
    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
   768
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   769
    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
   770
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   771
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   772
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   773
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   774
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   775
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   776
    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
   777
                    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
   778
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   779
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   780
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   781
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   782
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   783
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   784
    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
   785
        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
   786
                        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
   787
            up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   788
            EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", -data.sdo_spec);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   789
            return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   790
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   791
    } else {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   792
        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
   793
                        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
   794
            up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   795
            EC_SLAVE_ERR(slave, "SDO 0x%04X does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   796
                    data.sdo_spec);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   797
            return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   798
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   799
    }
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
    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
   802
                    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
   803
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   804
        EC_SLAVE_ERR(slave, "SDO entry 0x%04X:%02X does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   805
                sdo->index, data.sdo_entry_subindex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   806
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   807
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   808
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   809
    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
   810
    data.bit_length = entry->bit_length;
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   811
    data.read_access[EC_SDO_ENTRY_ACCESS_PREOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   812
        entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   813
    data.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   814
        entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   815
    data.read_access[EC_SDO_ENTRY_ACCESS_OP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   816
        entry->read_access[EC_SDO_ENTRY_ACCESS_OP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   817
    data.write_access[EC_SDO_ENTRY_ACCESS_PREOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   818
        entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   819
    data.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   820
        entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   821
    data.write_access[EC_SDO_ENTRY_ACCESS_OP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   822
        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
   823
    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
   824
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   825
    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
   826
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   827
    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
   828
        return -EFAULT;
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
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   831
}
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
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   835
/** Upload SDO.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   836
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   837
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
   838
        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
   839
        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
   840
        )
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
    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
   843
    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
   844
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   845
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   846
    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
   847
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   848
    }
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
    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
   851
    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
   852
            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
   853
    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
   854
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   855
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   856
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   857
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   858
    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
   859
                    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
   860
        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
   861
        ec_sdo_request_clear(&request.req);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   862
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   863
                data.slave_position);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   864
        return -EINVAL;
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   865
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   866
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   867
    EC_SLAVE_DBG(request.slave, 1, "Schedule SDO upload request.\n");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   868
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   869
    // schedule request.
1596
ea8d2b4ee742 Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   870
    list_add_tail(&request.list, &request.slave->slave_sdo_requests);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   871
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   872
    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
   873
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   874
    // wait for processing through FSM
1596
ea8d2b4ee742 Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   875
    if (wait_event_interruptible(request.slave->sdo_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   876
                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
   877
        // interrupted by signal
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   878
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   879
        if (request.req.state == EC_INT_REQUEST_QUEUED) {
1582
7273aa7deb3d Fixed SDO up/download kernel oops bug
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1535
diff changeset
   880
            list_del(&request.list);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   881
            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
   882
            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
   883
            return -EINTR;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   884
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   885
        // 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
   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
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   889
    // wait until master FSM has finished processing
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   890
    wait_event(request.slave->sdo_queue,
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   891
            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
   892
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   893
    EC_SLAVE_DBG(request.slave, 1, "Finished SDO upload request.\n");
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1582
diff changeset
   894
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   895
    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
   896
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   897
    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
   898
        data.data_size = 0;
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
   899
        if (request.req.errno) {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
   900
            retval = -request.req.errno;
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
   901
        } else {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
   902
            retval = -EIO;
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
   903
        }
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   904
    } else {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   905
        if (request.req.data_size > data.target_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   906
            EC_MASTER_ERR(master, "Buffer too small.\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   907
            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
   908
            return -EOVERFLOW;
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
        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
   911
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   912
        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
   913
                    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
   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 -EFAULT;
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
        retval = 0;
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
    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
   921
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   922
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   923
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   924
    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
   925
    return retval;
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
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   928
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   929
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   930
/** Download SDO.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   931
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   932
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
   933
        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
   934
        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
   935
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   936
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   937
    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
   938
    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
   939
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   940
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   941
    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
   942
        return -EFAULT;
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
    // 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
   946
    if (!data.data_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   947
        EC_MASTER_ERR(master, "Zero data size!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   948
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   949
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   950
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   951
    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
   952
    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
   953
            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
   954
    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
   955
        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
   956
        return -ENOMEM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   957
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   958
    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
   959
                (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
   960
        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
   961
        return -EFAULT;
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
    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
   964
    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
   965
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   966
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   967
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   968
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   969
    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
   970
                    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
   971
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   972
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   973
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   974
        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
   975
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   976
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   977
    
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   978
    EC_SLAVE_DBG(request.slave, 1, "Schedule SDO download request.\n");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   979
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   980
    // schedule request.
1596
ea8d2b4ee742 Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   981
    list_add_tail(&request.list, &request.slave->slave_sdo_requests);
1079
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
    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
   984
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   985
    // wait for processing through FSM
1596
ea8d2b4ee742 Moved sdo request queue to slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   986
    if (wait_event_interruptible(request.slave->sdo_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   987
                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
   988
        // interrupted by signal
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   989
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
   990
        if (request.req.state == EC_INT_REQUEST_QUEUED) {
1582
7273aa7deb3d Fixed SDO up/download kernel oops bug
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1535
diff changeset
   991
            list_del(&request.list);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   992
            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
   993
            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
   994
            return -EINTR;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   995
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   996
        // 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
   997
        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
   998
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   999
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1000
    // wait until master FSM has finished processing
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  1001
    wait_event(request.slave->sdo_queue,
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  1002
            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
  1003
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1004
    EC_SLAVE_DBG(request.slave, 1, "Finished SDO download request.\n");
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1582
diff changeset
  1005
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1006
    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
  1007
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  1008
    if (request.req.state == EC_INT_REQUEST_SUCCESS) {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  1009
        retval = 0;
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  1010
    } else if (request.req.errno) {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  1011
        retval = -request.req.errno;
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  1012
    } else {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  1013
        retval = -EIO;
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  1014
    }
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1015
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1016
    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
  1017
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1018
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1019
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1020
    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
  1021
    return retval;
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
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1024
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1025
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1026
/** 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
  1027
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1028
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
  1029
        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
  1030
        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
  1031
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1032
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1033
    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
  1034
    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
  1035
    int retval;
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
    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
  1038
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1039
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1040
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1041
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1042
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1043
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1044
    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
  1045
                    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
  1046
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1047
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1048
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1049
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1050
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1051
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1052
    if (!data.nwords
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1053
            || 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
  1054
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1055
        EC_SLAVE_ERR(slave, "Invalid SII read offset/size %u/%u for slave SII"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1056
                " size %zu!\n", data.offset, data.nwords, slave->sii_nwords);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1057
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1058
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1059
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1060
    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
  1061
                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
  1062
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1063
    else
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1064
        retval = 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1065
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1066
    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
  1067
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1068
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1069
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1070
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1071
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1072
/** 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
  1073
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1074
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
  1075
        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
  1076
        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
  1077
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1078
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1079
    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
  1080
    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
  1081
    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
  1082
    uint16_t *words;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1083
    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
  1084
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1085
    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
  1086
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1087
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1088
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1089
    if (!data.nwords)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1090
        return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1091
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1092
    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
  1093
    if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1094
        EC_MASTER_ERR(master, "Failed to allocate %u bytes"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1095
                " for SII contents.\n", byte_size);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1096
        return -ENOMEM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1097
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1098
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1099
    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
  1100
                (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
  1101
        kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1102
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1103
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1104
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1105
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1106
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1107
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1108
    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
  1109
                    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
  1110
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1111
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1112
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1113
        kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1114
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1115
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1116
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1117
    // 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
  1118
    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
  1119
    request.slave = slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1120
    request.words = words;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1121
    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
  1122
    request.nwords = data.nwords;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1123
    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
  1124
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1125
    // 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
  1126
    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
  1127
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1128
    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
  1129
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1130
    // 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
  1131
    if (wait_event_interruptible(master->sii_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1132
                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
  1133
        // interrupted by signal
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1134
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1135
        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
  1136
            // abort request
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1137
            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
  1138
            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
  1139
            kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1140
            return -EINTR;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1141
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1142
        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
  1143
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1144
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1145
    // wait until master FSM has finished processing
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1146
    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
  1147
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1148
    kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1149
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1150
    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
  1151
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1152
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1153
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1154
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1155
/** Read a slave's registers.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1156
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1157
int ec_cdev_ioctl_slave_reg_read(
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1158
        ec_master_t *master, /**< EtherCAT master. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1159
        unsigned long arg /**< ioctl() argument. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1160
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1161
{
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1162
    ec_ioctl_slave_reg_t data;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1163
    ec_slave_t *slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1164
    uint8_t *contents;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1165
    ec_reg_request_t request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1166
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1167
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1168
        return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1169
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1170
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1171
    if (!data.length)
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1172
        return 0;
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
    if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1175
        EC_MASTER_ERR(master, "Failed to allocate %u bytes"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1176
                " for register data.\n", data.length);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1177
        return -ENOMEM;
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
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1180
    if (down_interruptible(&master->master_sem))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1181
        return -EINTR;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1182
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1183
    if (!(slave = ec_master_find_slave(
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1184
                    master, 0, data.slave_position))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1185
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1186
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1187
                data.slave_position);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1188
        return -EINVAL;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1189
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1190
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1191
    // init register request
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1192
    INIT_LIST_HEAD(&request.list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1193
    request.slave = slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1194
    request.dir = EC_DIR_INPUT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1195
    request.data = contents;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1196
    request.offset = data.offset;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1197
    request.length = data.length;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1198
    request.state = EC_INT_REQUEST_QUEUED;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1199
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1200
    // schedule request.
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1201
    list_add_tail(&request.list, &master->reg_requests);
1200
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
    up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1204
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1205
    // wait for processing through FSM
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1206
    if (wait_event_interruptible(master->reg_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1207
                request.state != EC_INT_REQUEST_QUEUED)) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1208
        // interrupted by signal
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1209
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1210
        if (request.state == EC_INT_REQUEST_QUEUED) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1211
            // abort request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1212
            list_del(&request.list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1213
            up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1214
            kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1215
            return -EINTR;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1216
        }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1217
        up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1218
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1219
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1220
    // wait until master FSM has finished processing
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1221
    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
  1222
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1223
    if (request.state == EC_INT_REQUEST_SUCCESS) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1224
        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
  1225
            return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1226
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1227
    kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1228
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1229
    return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1230
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1231
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1232
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1233
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1234
/** Write a slave's registers.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1235
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1236
int ec_cdev_ioctl_slave_reg_write(
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1237
        ec_master_t *master, /**< EtherCAT master. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1238
        unsigned long arg /**< ioctl() argument. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1239
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1240
{
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1241
    ec_ioctl_slave_reg_t data;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1242
    ec_slave_t *slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1243
    uint8_t *contents;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1244
    ec_reg_request_t request;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1245
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1246
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1247
        return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1248
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1249
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1250
    if (!data.length)
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1251
        return 0;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1252
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1253
    if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1254
        EC_MASTER_ERR(master, "Failed to allocate %u bytes"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1255
                " for register data.\n", data.length);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1256
        return -ENOMEM;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1257
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1258
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1259
    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
  1260
        kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1261
        return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1262
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1263
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1264
    if (down_interruptible(&master->master_sem))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1265
        return -EINTR;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1266
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1267
    if (!(slave = ec_master_find_slave(
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1268
                    master, 0, data.slave_position))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1269
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1270
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1271
                data.slave_position);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1272
        kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1273
        return -EINVAL;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1274
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1275
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1276
    // init register request
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1277
    INIT_LIST_HEAD(&request.list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1278
    request.slave = slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1279
    request.dir = EC_DIR_OUTPUT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1280
    request.data = contents;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1281
    request.offset = data.offset;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1282
    request.length = data.length;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1283
    request.state = EC_INT_REQUEST_QUEUED;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1284
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1285
    // schedule request.
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1286
    list_add_tail(&request.list, &master->reg_requests);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1287
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1288
    up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1289
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1290
    // wait for processing through FSM
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1291
    if (wait_event_interruptible(master->reg_queue,
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1292
                request.state != EC_INT_REQUEST_QUEUED)) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1293
        // interrupted by signal
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1294
        down(&master->master_sem);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1295
        if (request.state == EC_INT_REQUEST_QUEUED) {
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1296
            // abort request
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1297
            list_del(&request.list);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1298
            up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1299
            kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1300
            return -EINTR;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1301
        }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1302
        up(&master->master_sem);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1303
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1304
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1305
    // wait until master FSM has finished processing
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1306
    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
  1307
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1308
    kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1309
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
  1310
    return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1311
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1312
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1313
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1314
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1315
/** 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
  1316
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1317
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
  1318
        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
  1319
        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
  1320
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1321
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1322
    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
  1323
    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
  1324
    uint8_t i;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1325
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1326
    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
  1327
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1328
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1329
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1330
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1331
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1332
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1333
    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
  1334
                    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
  1335
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1336
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1337
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1338
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1339
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1340
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1341
    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
  1342
    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
  1343
    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
  1344
    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
  1345
    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
  1346
        data.syncs[i].dir = sc->sync_configs[i].dir;
1518
ab5694a51826 Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1347
        data.syncs[i].watchdog_mode = sc->sync_configs[i].watchdog_mode;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1348
        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
  1349
            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
  1350
    }
1518
ab5694a51826 Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1351
    data.watchdog_divider = sc->watchdog_divider;
ab5694a51826 Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1352
    data.watchdog_intervals = sc->watchdog_intervals;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1353
    data.sdo_count = ec_slave_config_sdo_count(sc);
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1354
    data.idn_count = ec_slave_config_idn_count(sc);
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1109
diff changeset
  1355
    data.slave_position = sc->slave ? sc->slave->ring_position : -1;
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1356
    data.dc_assign_activate = sc->dc_assign_activate;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1357
    for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1358
        data.dc_sync[i] = sc->dc_sync[i];
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1359
    }
1079
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
    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
  1362
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1363
    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
  1364
        return -EFAULT;
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
    return 0;
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
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1369
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1370
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1371
/** 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
  1372
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1373
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
  1374
        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
  1375
        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
  1376
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1377
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1378
    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
  1379
    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
  1380
    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
  1381
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1382
    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
  1383
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1384
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1385
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1386
    if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1387
        EC_MASTER_ERR(master, "Invalid sync manager index %u!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1388
                data.sync_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1389
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1390
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1391
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1392
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1393
        return -EINTR;
1079
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 (!(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
  1396
                    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
  1397
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1398
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1399
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1400
        return -EINVAL;
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
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1403
    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
  1404
                    &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
  1405
                    data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1406
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1407
        EC_MASTER_ERR(master, "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
  1408
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1409
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1410
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1411
    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
  1412
    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
  1413
    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
  1414
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1415
    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
  1416
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1417
    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
  1418
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1419
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1420
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1421
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1422
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1423
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1424
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1425
/** 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
  1426
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1427
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
  1428
        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
  1429
        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
  1430
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1431
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1432
    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
  1433
    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
  1434
    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
  1435
    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
  1436
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1437
    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
  1438
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1439
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1440
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1441
    if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1442
        EC_MASTER_ERR(master, "Invalid sync manager index %u!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1443
                data.sync_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1444
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1445
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1446
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1447
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1448
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1449
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1450
    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
  1451
                    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
  1452
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1453
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1454
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1455
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1456
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1457
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1458
    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
  1459
                    &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
  1460
                    data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1461
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1462
        EC_MASTER_ERR(master, "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
  1463
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1464
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1465
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1466
    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
  1467
                    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
  1468
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1469
        EC_MASTER_ERR(master, "Entry not found!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1470
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1471
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1472
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1473
    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
  1474
    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
  1475
    data.bit_length = entry->bit_length;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
  1476
    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
  1477
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1478
    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
  1479
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1480
    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
  1481
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1482
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1483
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1484
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1485
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1486
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1487
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1488
/** 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
  1489
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1490
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
  1491
        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
  1492
        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
  1493
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1494
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1495
    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
  1496
    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
  1497
    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
  1498
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1499
    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
  1500
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1501
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1502
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1503
    if (down_interruptible(&master->master_sem))
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1504
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1505
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1506
    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
  1507
                    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
  1508
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1509
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1510
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1511
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1512
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1513
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1514
    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
  1515
                    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
  1516
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1517
        EC_MASTER_ERR(master, "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
  1518
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1519
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1520
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1521
    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
  1522
    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
  1523
    data.size = req->data_size;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  1524
    memcpy(&data.data, req->data,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  1525
            min((u32) data.size, (u32) EC_MAX_SDO_DATA_SIZE));
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1526
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1527
    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
  1528
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1529
    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
  1530
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1531
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1532
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1533
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1534
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1535
/*****************************************************************************/
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1536
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1537
/** Get slave configuration IDN information.
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1538
 */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1539
int ec_cdev_ioctl_config_idn(
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1540
        ec_master_t *master, /**< EtherCAT master. */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1541
        unsigned long arg /**< ioctl() argument. */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1542
        )
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1543
{
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1544
    ec_ioctl_config_idn_t data;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1545
    const ec_slave_config_t *sc;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1546
    const ec_soe_request_t *req;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1547
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1548
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1549
        return -EFAULT;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1550
    }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1551
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1552
    if (down_interruptible(&master->master_sem))
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1553
        return -EINTR;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1554
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1555
    if (!(sc = ec_master_get_config_const(
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1556
                    master, data.config_index))) {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1557
        up(&master->master_sem);
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1558
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1559
                data.config_index);
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1560
        return -EINVAL;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1561
    }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1562
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1563
    if (!(req = ec_slave_config_get_idn_by_pos_const(
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1564
                    sc, data.idn_pos))) {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1565
        up(&master->master_sem);
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1566
        EC_MASTER_ERR(master, "Invalid IDN position!\n");
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1567
        return -EINVAL;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1568
    }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1569
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1570
    data.drive_no = req->drive_no;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1571
    data.idn = req->idn;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1572
    data.state = req->state;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1573
    data.size = req->data_size;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1574
    memcpy(&data.data, req->data,
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1575
            min((u32) data.size, (u32) EC_MAX_IDN_DATA_SIZE));
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1576
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1577
    up(&master->master_sem);
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1578
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1579
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1580
        return -EFAULT;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1581
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1582
    return 0;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1583
}
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1584
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1585
/*****************************************************************************/
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1586
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1587
#ifdef EC_EOE
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1588
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1589
/** Get EoE handler information.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1590
 */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1591
int ec_cdev_ioctl_eoe_handler(
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1592
        ec_master_t *master, /**< EtherCAT master. */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1593
        unsigned long arg /**< ioctl() argument. */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1594
        )
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1595
{
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1596
    ec_ioctl_eoe_handler_t data;
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1597
    const ec_eoe_t *eoe;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1598
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1599
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1600
        return -EFAULT;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1601
    }
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1602
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1603
    if (down_interruptible(&master->master_sem))
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1604
        return -EINTR;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1605
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1606
    if (!(eoe = ec_master_get_eoe_handler_const(master, data.eoe_index))) {
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1607
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1608
        EC_MASTER_ERR(master, "EoE handler %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1609
                data.eoe_index);
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1610
        return -EINVAL;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1611
    }
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1612
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1613
    if (eoe->slave) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1614
        data.slave_position = eoe->slave->ring_position;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1615
    } else {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1616
        data.slave_position = 0xffff;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1617
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1618
    snprintf(data.name, EC_DATAGRAM_NAME_SIZE, eoe->dev->name);
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1619
    data.open = eoe->opened;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1620
    data.rx_bytes = eoe->stats.tx_bytes;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1621
    data.rx_rate = eoe->tx_rate;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1622
    data.tx_bytes = eoe->stats.rx_bytes;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1623
    data.tx_rate = eoe->tx_rate;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1624
    data.tx_queued_frames = eoe->tx_queued_frames;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1625
    data.tx_queue_size = eoe->tx_queue_size;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1626
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1627
    up(&master->master_sem);
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1628
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1629
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1630
        return -EFAULT;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1631
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1632
    return 0;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1633
}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1634
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1635
#endif
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1636
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1637
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1638
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1639
/** Request the master from userspace.
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1640
 */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1641
int ec_cdev_ioctl_request(
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1642
        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
  1643
        unsigned long arg, /**< ioctl() argument. */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1644
        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
  1645
        )
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1646
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1647
    ec_master_t *m;
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1648
    int ret = 0;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1649
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1650
    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
  1651
    if (IS_ERR(m)) {
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1652
        ret = PTR_ERR(m);
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1653
    } else {
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1654
        priv->requested = 1;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1655
    }
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1656
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1657
    return ret;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1658
}
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1659
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1660
/*****************************************************************************/
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1661
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1662
/** Create a domain.
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1663
 */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1664
int ec_cdev_ioctl_create_domain(
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1665
        ec_master_t *master, /**< EtherCAT master. */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1666
        unsigned long arg, /**< ioctl() argument. */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1667
        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
  1668
        )
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1669
{
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1670
    ec_domain_t *domain;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1671
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1672
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1673
        return -EPERM;
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1674
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1675
    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
  1676
    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
  1677
        return PTR_ERR(domain);
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1678
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1679
    return domain->index;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1680
}
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1681
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1682
/*****************************************************************************/
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1683
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1684
/** Create a slave configuration.
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1685
 */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1686
int ec_cdev_ioctl_create_slave_config(
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1687
        ec_master_t *master, /**< EtherCAT master. */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1688
        unsigned long arg, /**< ioctl() argument. */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1689
        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
  1690
        )
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1691
{
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1692
    ec_ioctl_config_t data;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1693
    ec_slave_config_t *sc, *entry;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1694
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1695
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1696
        return -EPERM;
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1697
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1698
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1699
        return -EFAULT;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1700
    }
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1701
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1702
    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
  1703
            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
  1704
    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
  1705
        return PTR_ERR(sc);
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1706
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1707
    data.config_index = 0;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1708
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1709
    if (down_interruptible(&master->master_sem))
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1710
        return -EINTR;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1711
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1712
    list_for_each_entry(entry, &master->configs, list) {
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1713
        if (entry == sc)
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1714
            break;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1715
        data.config_index++;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1716
    }
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1717
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1718
    up(&master->master_sem);
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1719
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1720
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1721
        return -EFAULT;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1722
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1723
    return 0;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1724
}
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1725
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1726
/*****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1727
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1728
/** Activates the master.
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1729
 */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1730
int ec_cdev_ioctl_activate(
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1731
        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
  1732
        unsigned long arg, /**< ioctl() argument. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1733
        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
  1734
        )
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1735
{
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1736
    ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1737
    off_t offset;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1738
    int ret;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1739
    
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1740
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1741
        return -EPERM;
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1742
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1743
    /* Get the sum of the domains' process data sizes. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1744
    
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1745
    priv->process_data_size = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1746
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1747
    if (down_interruptible(&master->master_sem))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1748
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1749
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1750
    list_for_each_entry(domain, &master->domains, list) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1751
        priv->process_data_size += ecrt_domain_size(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1752
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1753
    
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1754
    up(&master->master_sem);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1755
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1756
    if (priv->process_data_size) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1757
        priv->process_data = vmalloc(priv->process_data_size);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1758
        if (!priv->process_data) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1759
            priv->process_data_size = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1760
            return -ENOMEM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1761
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1762
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1763
        /* 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
  1764
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1765
        offset = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1766
        list_for_each_entry(domain, &master->domains, list) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1767
            ecrt_domain_external_memory(domain, priv->process_data + offset);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1768
            offset += ecrt_domain_size(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1769
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1770
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1771
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1772
    ecrt_master_callbacks(master, ec_master_internal_send_cb,
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
  1773
            ec_master_internal_receive_cb, master);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1774
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1775
    ret = ecrt_master_activate(master);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1776
    if (ret < 0)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1777
        return ret;
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1778
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1779
    if (copy_to_user((void __user *) arg,
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1780
                &priv->process_data_size, sizeof(size_t)))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1781
        return -EFAULT;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1782
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1783
    return 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1784
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1785
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1786
/*****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1787
1531
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1788
/** Deactivates the master.
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1789
 */
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1790
int ec_cdev_ioctl_deactivate(
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1791
        ec_master_t *master, /**< EtherCAT master. */
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1792
        unsigned long arg, /**< ioctl() argument. */
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1793
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1794
        )
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1795
{
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1796
    if (unlikely(!priv->requested))
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1797
        return -EPERM;
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1798
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1799
    ecrt_master_deactivate(master);
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1800
    return 0;
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1801
}
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1802
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1803
/*****************************************************************************/
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1804
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1805
/** Set max. number of databytes in a cycle
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1806
 */
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1807
int ec_cdev_ioctl_set_send_interval(
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1808
        ec_master_t *master, /**< EtherCAT master. */
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1809
        unsigned long arg, /**< ioctl() argument. */
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1810
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1811
        )
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1812
{
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1813
    size_t send_interval;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1814
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1815
    if (copy_from_user(&send_interval, (void __user *) arg,
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1816
                sizeof(send_interval))) {
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1817
        return -EFAULT;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1818
    }
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1819
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1820
    if (down_interruptible(&master->master_sem))
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1821
        return -EINTR;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1822
    ec_master_set_send_interval(master,send_interval);
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1823
    up(&master->master_sem);
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1824
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1825
    return 0;
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1826
}
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1827
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1828
1531
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1829
/*****************************************************************************/
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1830
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1831
/** Send frames.
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1832
 */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1833
int ec_cdev_ioctl_send(
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1834
        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
  1835
        unsigned long arg, /**< ioctl() argument. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1836
        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
  1837
        )
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1838
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1839
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1840
        return -EPERM;
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1841
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1842
    down(&master->io_sem);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1843
    ecrt_master_send(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1844
    up(&master->io_sem);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1845
    return 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1846
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1847
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1848
/*****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1849
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1850
/** Receive frames.
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1851
 */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1852
int ec_cdev_ioctl_receive(
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1853
        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
  1854
        unsigned long arg, /**< ioctl() argument. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1855
        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
  1856
        )
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1857
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1858
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1859
        return -EPERM;
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1860
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1861
    down(&master->io_sem);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1862
    ecrt_master_receive(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1863
    up(&master->io_sem);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1864
    return 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1865
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1866
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1867
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1868
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1869
/** Get the master state.
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1870
 */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1871
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
  1872
        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
  1873
        unsigned long arg, /**< ioctl() argument. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1874
        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
  1875
        )
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1876
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1877
    ec_master_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1878
    
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1879
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1880
        return -EPERM;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1881
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1882
    ecrt_master_state(master, &data);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1883
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1884
    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
  1885
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1886
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1887
    return 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1888
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1889
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1890
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1891
1978
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1892
/** Get the master state of all configured slaves.
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1893
 */
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1894
int ec_cdev_ioctl_master_sc_state(
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1895
        ec_master_t *master, /**< EtherCAT master. */
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1896
        unsigned long arg, /**< ioctl() argument. */
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1897
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1898
        )
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1899
{
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1900
    ec_master_state_t data;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1901
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1902
    if (unlikely(!priv->requested))
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1903
        return -EPERM;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1904
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1905
    ecrt_master_configured_slaves_state(master, &data);
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1906
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1907
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1908
        return -EFAULT;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1909
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1910
    return 0;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1911
}
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1912
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1913
/*****************************************************************************/
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1914
1454
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1915
/** Get the master state.
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1916
 */
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1917
int ec_cdev_ioctl_app_time(
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1918
        ec_master_t *master, /**< EtherCAT master. */
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1919
        unsigned long arg, /**< ioctl() argument. */
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1920
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1921
        )
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1922
{
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1923
    ec_ioctl_app_time_t data;
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1924
    
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1925
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1926
        return -EPERM;
1454
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1927
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1928
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1929
        return -EFAULT;
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1930
    }
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1931
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1932
    ecrt_master_application_time(master, data.app_time);
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1933
    return 0;
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1934
}
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1935
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1936
/*****************************************************************************/
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1937
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1938
/** Sync the reference clock.
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1939
 */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1940
int ec_cdev_ioctl_sync_ref(
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1941
        ec_master_t *master, /**< EtherCAT master. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1942
        unsigned long arg, /**< ioctl() argument. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1943
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1944
        )
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1945
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1946
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1947
        return -EPERM;
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1948
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1949
    down(&master->io_sem);
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  1950
    ecrt_master_sync_reference_clock(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1951
    up(&master->io_sem);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1952
    return 0;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1953
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1954
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1955
/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1956
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1957
/** Sync the slave clocks.
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1958
 */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1959
int ec_cdev_ioctl_sync_slaves(
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1960
        ec_master_t *master, /**< EtherCAT master. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1961
        unsigned long arg, /**< ioctl() argument. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1962
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1963
        )
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1964
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1965
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1966
        return -EPERM;
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1967
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1968
    down(&master->io_sem);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1969
    ecrt_master_sync_slave_clocks(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1970
    up(&master->io_sem);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1971
    return 0;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1972
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1973
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1974
/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1975
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1976
/** Queue the sync monitoring datagram.
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1977
 */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1978
int ec_cdev_ioctl_sync_mon_queue(
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1979
        ec_master_t *master, /**< EtherCAT master. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1980
        unsigned long arg, /**< ioctl() argument. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1981
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1982
        )
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1983
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1984
    if (unlikely(!priv->requested))
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1985
        return -EPERM;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1986
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1987
    down(&master->io_sem);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1988
    ecrt_master_sync_monitor_queue(master);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1989
    up(&master->io_sem);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1990
    return 0;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1991
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1992
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1993
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1994
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1995
/** Processes the sync monitoring datagram.
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1996
 */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1997
int ec_cdev_ioctl_sync_mon_process(
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1998
        ec_master_t *master, /**< EtherCAT master. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1999
        unsigned long arg, /**< ioctl() argument. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2000
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2001
        )
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2002
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2003
    uint32_t time_diff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2004
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2005
    if (unlikely(!priv->requested))
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2006
        return -EPERM;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2007
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2008
    down(&master->io_sem);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2009
    time_diff = ecrt_master_sync_monitor_process(master);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2010
    up(&master->io_sem);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2011
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2012
    if (copy_to_user((void __user *) arg, &time_diff, sizeof(time_diff)))
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2013
        return -EFAULT;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2014
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2015
    return 0;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2016
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2017
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2018
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2019
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2020
/** Configure a sync manager.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2021
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2022
int ec_cdev_ioctl_sc_sync(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2023
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2024
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2025
        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
  2026
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2027
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2028
    ec_ioctl_config_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2029
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2030
    unsigned int i;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2031
    int ret = 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2032
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2033
    if (unlikely(!priv->requested)) {
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2034
        ret = -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2035
        goto out_return;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2036
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2037
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2038
    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
  2039
        ret = -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2040
        goto out_return;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2041
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2042
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2043
    if (down_interruptible(&master->master_sem)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2044
        ret = -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2045
        goto out_return;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2046
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2047
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2048
    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
  2049
        ret = -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2050
        goto out_up;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2051
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2052
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2053
    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2054
        if (data.syncs[i].config_this) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2055
            if (ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2056
                        data.syncs[i].watchdog_mode)) {
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2057
                ret = -EINVAL;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2058
                goto out_up;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2059
            }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2060
        }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2061
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2062
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2063
out_up:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2064
    up(&master->master_sem);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2065
out_return:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2066
    return ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2067
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2068
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2069
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2070
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2071
/** Configure a slave's watchdogs.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2072
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2073
int ec_cdev_ioctl_sc_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2074
        ec_master_t *master, /**< EtherCAT master. */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2075
        unsigned long arg, /**< ioctl() argument. */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2076
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2077
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2078
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2079
    ec_ioctl_config_t data;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2080
    ec_slave_config_t *sc;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2081
    int ret = 0;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2082
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2083
    if (unlikely(!priv->requested)) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2084
        ret = -EPERM;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2085
        goto out_return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2086
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2087
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2088
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2089
        ret = -EFAULT;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2090
        goto out_return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2091
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2092
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2093
    if (down_interruptible(&master->master_sem)) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2094
        ret = -EINTR;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2095
        goto out_return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2096
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2097
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2098
    if (!(sc = ec_master_get_config(master, data.config_index))) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2099
        ret = -ENOENT;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2100
        goto out_up;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2101
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2102
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2103
    ecrt_slave_config_watchdog(sc,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2104
            data.watchdog_divider, data.watchdog_intervals);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2105
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2106
out_up:
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2107
    up(&master->master_sem);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2108
out_return:
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2109
    return ret;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2110
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2111
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2112
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2113
/*****************************************************************************/
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2114
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2115
/** Configure wether a slave allows overlapping PDOs.
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2116
 */
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2117
int ec_cdev_ioctl_sc_allow_overlapping_pdos(
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2118
        ec_master_t *master, /**< EtherCAT master. */
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2119
        unsigned long arg, /**< ioctl() argument. */
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2120
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2121
        )
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2122
{
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2123
    ec_ioctl_config_t data;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2124
    ec_slave_config_t *sc;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2125
    int ret = 0;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2126
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2127
    if (unlikely(!priv->requested)) {
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2128
        ret = -EPERM;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2129
        goto out_return;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2130
    }
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2131
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2132
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2133
        ret = -EFAULT;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2134
        goto out_return;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2135
    }
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2136
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2137
    if (down_interruptible(&master->master_sem)) {
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2138
        ret = -EINTR;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2139
        goto out_return;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2140
    }
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2141
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2142
    if (!(sc = ec_master_get_config(master, data.config_index))) {
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2143
        ret = -ENOENT;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2144
        goto out_up;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2145
    }
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2146
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2147
    ecrt_slave_config_overlapping_pdos(sc,
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2148
            data.allow_overlapping_pdos);
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2149
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2150
out_up:
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2151
    up(&master->master_sem);
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2152
out_return:
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2153
    return ret;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2154
}
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2155
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2156
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2157
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2158
/** Add a PDO to the assignment.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2159
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2160
int ec_cdev_ioctl_sc_add_pdo(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2161
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2162
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2163
        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
  2164
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2165
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2166
    ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2167
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2168
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2169
    if (unlikely(!priv->requested))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2170
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2171
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2172
    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
  2173
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2174
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2175
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2176
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2177
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2178
    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
  2179
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2180
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2181
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2182
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2183
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2184
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2185
    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
  2186
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2187
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2188
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2189
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2190
/** Clears the PDO assignment.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2191
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2192
int ec_cdev_ioctl_sc_clear_pdos(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2193
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2194
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2195
        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
  2196
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2197
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2198
    ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2199
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2200
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2201
    if (unlikely(!priv->requested))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2202
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2203
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2204
    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
  2205
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2206
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2207
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2208
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2209
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2210
    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
  2211
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2212
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2213
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2214
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2215
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2216
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2217
    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
  2218
    return 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2219
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2220
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2221
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2222
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2223
/** 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
  2224
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2225
int ec_cdev_ioctl_sc_add_entry(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2226
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2227
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2228
        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
  2229
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2230
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2231
    ec_ioctl_add_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2232
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2233
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2234
    if (unlikely(!priv->requested))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2235
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2236
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2237
    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
  2238
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2239
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2240
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2241
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2242
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2243
    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
  2244
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2245
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2246
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2247
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2248
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2249
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2250
    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
  2251
            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
  2252
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2253
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2254
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2255
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2256
/** Clears the mapping of a PDO.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2257
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2258
int ec_cdev_ioctl_sc_clear_entries(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2259
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2260
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2261
        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
  2262
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2263
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2264
    ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2265
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2266
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2267
    if (unlikely(!priv->requested))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2268
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2269
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2270
    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
  2271
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2272
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2273
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2274
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2275
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2276
    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
  2277
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2278
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2279
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2280
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2281
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2282
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2283
    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
  2284
    return 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2285
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2286
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2287
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2288
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2289
/** Registers a PDO entry.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2290
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2291
int ec_cdev_ioctl_sc_reg_pdo_entry(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2292
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2293
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2294
        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
  2295
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2296
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2297
    ec_ioctl_reg_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2298
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2299
    ec_domain_t *domain;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2300
    int ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2301
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2302
    if (unlikely(!priv->requested))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2303
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2304
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2305
    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
  2306
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2307
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2308
    if (down_interruptible(&master->master_sem))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2309
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2310
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2311
    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
  2312
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2313
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2314
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2315
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2316
    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
  2317
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2318
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2319
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2320
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2321
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2322
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2323
    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
  2324
            data.entry_subindex, domain, &data.bit_position);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2325
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2326
    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
  2327
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2328
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2329
    return ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2330
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2331
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2332
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2333
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  2334
/** Sets the DC AssignActivate word and the sync signal times.
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  2335
 */
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  2336
int ec_cdev_ioctl_sc_dc(
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2337
        ec_master_t *master, /**< EtherCAT master. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2338
        unsigned long arg, /**< ioctl() argument. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2339
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2340
        )
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2341
{
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2342
    ec_ioctl_config_t data;
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2343
    ec_slave_config_t *sc;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2344
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2345
    if (unlikely(!priv->requested))
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2346
        return -EPERM;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2347
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2348
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2349
        return -EFAULT;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2350
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2351
    if (down_interruptible(&master->master_sem))
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2352
        return -EINTR;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2353
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2354
    if (!(sc = ec_master_get_config(master, data.config_index))) {
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2355
        up(&master->master_sem);
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2356
        return -ENOENT;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2357
    }
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2358
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2359
    ecrt_slave_config_dc(sc, data.dc_assign_activate,
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2360
            data.dc_sync[0].cycle_time,
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2361
            data.dc_sync[0].shift_time,
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2362
            data.dc_sync[1].cycle_time,
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2363
            data.dc_sync[1].shift_time);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2364
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2365
    up(&master->master_sem);
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2366
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2367
    return 0;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2368
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2369
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2370
/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2371
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2372
/** Configures an SDO.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2373
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2374
int ec_cdev_ioctl_sc_sdo(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2375
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2376
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2377
        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
  2378
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2379
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2380
    ec_ioctl_sc_sdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2381
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2382
    uint8_t *sdo_data = NULL;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2383
    int ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2384
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2385
    if (unlikely(!priv->requested))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2386
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2387
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2388
    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
  2389
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2390
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2391
    if (!data.size)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2392
        return -EINVAL;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2393
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2394
    if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2395
        return -ENOMEM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2396
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2397
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2398
    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
  2399
        kfree(sdo_data);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2400
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2401
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2402
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2403
    if (down_interruptible(&master->master_sem)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2404
        kfree(sdo_data);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2405
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2406
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2407
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2408
    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
  2409
        up(&master->master_sem);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2410
        kfree(sdo_data);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2411
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2412
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2413
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2414
    up(&master->master_sem); // FIXME
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2415
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  2416
    if (data.complete_access) {
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  2417
        ret = ecrt_slave_config_complete_sdo(sc,
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  2418
                data.index, sdo_data, data.size);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  2419
    } else {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  2420
        ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  2421
                data.size);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  2422
    }
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2423
    kfree(sdo_data);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2424
    return ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2425
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2426
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2427
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2428
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2429
/** Create an SDO request.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2430
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2431
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
  2432
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2433
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2434
        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
  2435
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2436
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2437
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2438
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2439
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2440
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2441
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2442
        return -EPERM;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2443
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2444
    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
  2445
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2446
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2447
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2448
    data.request_index = 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2449
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2450
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2451
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2452
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2453
    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
  2454
    if (!sc) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2455
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2456
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2457
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2458
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2459
    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
  2460
        data.request_index++;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2461
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2462
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2463
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2464
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2465
    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
  2466
            data.sdo_subindex, data.size);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2467
    if (IS_ERR(req))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2468
        return PTR_ERR(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2469
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2470
    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
  2471
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2472
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2473
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2474
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2475
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2476
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2477
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2478
/** Create a VoE handler.
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
int ec_cdev_ioctl_sc_create_voe_handler(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2481
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2482
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2483
        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
  2484
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2485
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2486
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2487
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2488
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2489
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2490
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2491
        return -EPERM;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2492
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2493
    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
  2494
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2495
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2496
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2497
    data.voe_index = 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2498
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2499
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2500
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2501
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2502
    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
  2503
    if (!sc) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2504
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2505
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2506
    }
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
    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
  2509
        data.voe_index++;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2510
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2511
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2512
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2513
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  2514
    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
  2515
    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
  2516
        return PTR_ERR(voe);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2517
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2518
    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
  2519
        return -EFAULT;
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
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2522
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2523
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2524
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2525
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2526
/** 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
  2527
 */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2528
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
  2529
        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
  2530
        unsigned long arg, /**< ioctl() argument. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2531
        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
  2532
        )
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2533
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2534
    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
  2535
    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
  2536
    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
  2537
    
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2538
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2539
        return -EPERM;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2540
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2541
    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
  2542
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2543
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2544
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2545
    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
  2546
        return -EINTR;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2547
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2548
    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
  2549
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2550
        return -ENOENT;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2551
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2552
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2553
    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
  2554
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2555
    up(&master->master_sem);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2556
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2557
    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
  2558
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2559
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2560
    return 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2561
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2562
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2563
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2564
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2565
/** Configures an IDN.
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2566
 */
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2567
int ec_cdev_ioctl_sc_idn(
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2568
        ec_master_t *master, /**< EtherCAT master. */
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2569
        unsigned long arg, /**< ioctl() argument. */
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2570
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2571
        )
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2572
{
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2573
    ec_ioctl_sc_idn_t ioctl;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2574
    ec_slave_config_t *sc;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2575
    uint8_t *data = NULL;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2576
    int ret;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2577
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2578
    if (unlikely(!priv->requested))
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2579
        return -EPERM;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2580
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2581
    if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl)))
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2582
        return -EFAULT;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2583
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2584
    if (!ioctl.size)
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2585
        return -EINVAL;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2586
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2587
    if (!(data = kmalloc(ioctl.size, GFP_KERNEL))) {
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2588
        return -ENOMEM;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2589
    }
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2590
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2591
    if (copy_from_user(data, (void __user *) ioctl.data, ioctl.size)) {
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2592
        kfree(data);
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2593
        return -EFAULT;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2594
    }
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2595
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2596
    if (down_interruptible(&master->master_sem)) {
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2597
        kfree(data);
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2598
        return -EINTR;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2599
    }
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2600
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2601
    if (!(sc = ec_master_get_config(master, ioctl.config_index))) {
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2602
        up(&master->master_sem);
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2603
        kfree(data);
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2604
        return -ENOENT;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2605
    }
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2606
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2607
    up(&master->master_sem); // FIXME
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2608
1945
f9204699e799 Incremented ioctl interface version; Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  2609
    ret = ecrt_slave_config_idn(
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
  2610
            sc, ioctl.drive_no, ioctl.idn, ioctl.al_state, data, ioctl.size);
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2611
    kfree(data);
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2612
    return ret;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2613
}
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2614
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2615
/*****************************************************************************/
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2616
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2617
/** 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
  2618
 */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2619
int ec_cdev_ioctl_domain_offset(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2620
        ec_master_t *master, /**< EtherCAT master. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2621
        unsigned long arg, /**< ioctl() argument. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2622
        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
  2623
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2624
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2625
    int offset = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2626
    const ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2627
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2628
    if (unlikely(!priv->requested))
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2629
        return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2630
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2631
    if (down_interruptible(&master->master_sem)) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2632
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2633
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2634
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2635
    list_for_each_entry(domain, &master->domains, list) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2636
        if (domain->index == arg) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2637
            up(&master->master_sem);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2638
            return offset;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2639
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2640
        offset += ecrt_domain_size(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2641
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2642
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2643
    up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2644
    return -ENOENT;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2645
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2646
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2647
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2648
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2649
/** Process the domain.
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2650
 */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2651
int ec_cdev_ioctl_domain_process(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2652
        ec_master_t *master, /**< EtherCAT master. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2653
        unsigned long arg, /**< ioctl() argument. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2654
        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
  2655
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2656
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2657
    ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2658
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2659
    if (unlikely(!priv->requested))
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2660
        return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2661
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2662
    if (down_interruptible(&master->master_sem))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2663
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2664
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2665
    if (!(domain = ec_master_find_domain(master, arg))) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2666
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2667
        return -ENOENT;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2668
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2669
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2670
    ecrt_domain_process(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2671
    up(&master->master_sem);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2672
    return 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2673
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2674
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2675
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2676
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2677
/** Queue the domain.
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2678
 */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2679
int ec_cdev_ioctl_domain_queue(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2680
        ec_master_t *master, /**< EtherCAT master. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2681
        unsigned long arg, /**< ioctl() argument. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2682
        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
  2683
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2684
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2685
    ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2686
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2687
    if (unlikely(!priv->requested))
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2688
        return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2689
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2690
    if (down_interruptible(&master->master_sem))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2691
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2692
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2693
    if (!(domain = ec_master_find_domain(master, arg))) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2694
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2695
        return -ENOENT;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2696
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2697
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2698
    ecrt_domain_queue(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2699
    up(&master->master_sem);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2700
    return 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2701
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2702
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2703
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2704
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2705
/** Get the domain state.
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2706
 */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2707
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
  2708
        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
  2709
        unsigned long arg, /**< ioctl() argument. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2710
        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
  2711
        )
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2712
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2713
    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
  2714
    const ec_domain_t *domain;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2715
    ec_domain_state_t state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2716
    
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2717
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2718
        return -EPERM;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2719
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2720
    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
  2721
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2722
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2723
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2724
    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
  2725
        return -EINTR;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2726
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2727
    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
  2728
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2729
        return -ENOENT;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2730
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2731
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2732
    ecrt_domain_state(domain, &state);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2733
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2734
    up(&master->master_sem);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2735
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2736
    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
  2737
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2738
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2739
    return 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2740
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2741
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2742
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2743
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2744
/** Sets an SDO request's timeout.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2745
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2746
int ec_cdev_ioctl_sdo_request_timeout(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2747
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2748
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2749
        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
  2750
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2751
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2752
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2753
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2754
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2755
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2756
    if (unlikely(!priv->requested))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2757
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2758
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2759
    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
  2760
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2761
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2762
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2763
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2764
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2765
    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
  2766
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2767
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2768
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2769
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2770
    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
  2771
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2772
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2773
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2774
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2775
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2776
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2777
    ecrt_sdo_request_timeout(req, data.timeout);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2778
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2779
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2780
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2781
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2782
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2783
/** Gets an SDO request's state.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2784
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2785
int ec_cdev_ioctl_sdo_request_state(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2786
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2787
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2788
        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
  2789
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2790
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2791
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2792
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2793
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2794
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2795
    if (unlikely(!priv->requested))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2796
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2797
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2798
    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
  2799
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2800
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2801
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2802
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2803
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2804
    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
  2805
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2806
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2807
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2808
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2809
    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
  2810
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2811
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2812
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2813
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2814
    data.state = ecrt_sdo_request_state(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2815
    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
  2816
        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
  2817
    else
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2818
        data.size = 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2819
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2820
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2821
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2822
    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
  2823
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2824
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2825
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2826
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2827
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2828
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2829
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2830
/** Starts an SDO read operation.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2831
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2832
int ec_cdev_ioctl_sdo_request_read(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2833
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2834
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2835
        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
  2836
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2837
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2838
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2839
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2840
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2841
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2842
    if (unlikely(!priv->requested))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2843
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2844
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2845
    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
  2846
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2847
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2848
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2849
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2850
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2851
    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
  2852
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2853
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2854
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2855
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2856
    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
  2857
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2858
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2859
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2860
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2861
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2862
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2863
    ecrt_sdo_request_read(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2864
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2865
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2866
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2867
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2868
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2869
/** Starts an SDO write operation.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2870
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2871
int ec_cdev_ioctl_sdo_request_write(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2872
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2873
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2874
        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
  2875
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2876
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2877
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2878
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2879
    ec_sdo_request_t *req;
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2880
    int ret;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2881
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2882
    if (unlikely(!priv->requested))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2883
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2884
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2885
    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
  2886
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2887
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2888
    if (!data.size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2889
        EC_MASTER_ERR(master, "SDO download: Data size may not be zero!\n");
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2890
        return -EINVAL;
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2891
    }
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2892
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2893
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2894
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2895
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2896
    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
  2897
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2898
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2899
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2900
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2901
    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
  2902
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2903
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2904
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2905
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2906
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2907
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2908
    ret = ec_sdo_request_alloc(req, data.size);
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2909
    if (ret)
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2910
        return ret;
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2911
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2912
    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
  2913
        return -EFAULT;
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2914
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2915
    req->data_size = data.size;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2916
    ecrt_sdo_request_write(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2917
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2918
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2919
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2920
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2921
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2922
/** Read SDO data.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2923
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2924
int ec_cdev_ioctl_sdo_request_data(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2925
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2926
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2927
        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
  2928
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2929
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2930
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2931
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2932
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2933
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2934
    if (unlikely(!priv->requested))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2935
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2936
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2937
    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
  2938
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2939
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2940
    if (down_interruptible(&master->master_sem))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2941
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2942
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2943
    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
  2944
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2945
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2946
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2947
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2948
    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
  2949
        up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2950
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2951
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2952
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2953
    up(&master->master_sem);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2954
1362
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2955
    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
  2956
                ecrt_sdo_request_data_size(req)))
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2957
        return -EFAULT;
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2958
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2959
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2960
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2961
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2962
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2963
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2964
/** Sets the VoE send header.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2965
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2966
int ec_cdev_ioctl_voe_send_header(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2967
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2968
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2969
        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
  2970
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2971
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2972
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2973
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2974
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2975
    uint32_t vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2976
    uint16_t vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2977
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2978
    if (unlikely(!priv->requested))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2979
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2980
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2981
    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
  2982
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2983
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2984
    if (get_user(vendor_id, data.vendor_id))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2985
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2986
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2987
    if (get_user(vendor_type, data.vendor_type))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2988
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2989
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2990
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2991
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2992
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2993
    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
  2994
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2995
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2996
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2997
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2998
    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
  2999
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3000
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3001
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3002
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3003
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3004
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3005
    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
  3006
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3007
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3008
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3009
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3010
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3011
/** Gets the received VoE header.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3012
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3013
int ec_cdev_ioctl_voe_rec_header(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3014
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3015
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3016
        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
  3017
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3018
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3019
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3020
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3021
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3022
    uint32_t vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3023
    uint16_t vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3024
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3025
    if (unlikely(!priv->requested))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3026
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3027
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3028
    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
  3029
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3030
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3031
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3032
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3033
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3034
    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
  3035
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3036
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3037
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3038
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3039
    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
  3040
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3041
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3042
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3043
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3044
    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
  3045
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3046
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3047
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3048
    if (likely(data.vendor_id))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3049
        if (put_user(vendor_id, data.vendor_id))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3050
            return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3051
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3052
    if (likely(data.vendor_type))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3053
        if (put_user(vendor_type, data.vendor_type))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3054
            return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3055
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3056
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3057
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3058
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3059
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3060
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3061
/** Starts a VoE read operation.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3062
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3063
int ec_cdev_ioctl_voe_read(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3064
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3065
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3066
        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
  3067
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3068
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3069
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3070
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3071
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3072
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3073
    if (unlikely(!priv->requested))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3074
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3075
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3076
    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
  3077
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3078
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3079
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3080
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3081
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3082
    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
  3083
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3084
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3085
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3086
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3087
    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
  3088
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3089
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3090
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3091
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3092
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3093
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3094
    ecrt_voe_handler_read(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3095
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3096
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3097
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3098
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3099
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3100
/** 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
  3101
 */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3102
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
  3103
        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
  3104
        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
  3105
        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
  3106
        )
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3107
{
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3108
    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
  3109
    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
  3110
    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
  3111
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3112
    if (unlikely(!priv->requested))
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3113
        return -EPERM;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3114
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3115
    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
  3116
        return -EFAULT;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3117
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3118
    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
  3119
        return -EINTR;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3120
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3121
    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
  3122
        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
  3123
        return -ENOENT;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3124
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3125
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3126
    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
  3127
        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
  3128
        return -ENOENT;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3129
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3130
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3131
    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
  3132
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3133
    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
  3134
    return 0;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3135
}
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3136
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3137
/*****************************************************************************/
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3138
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3139
/** Starts a VoE write operation.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3140
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3141
int ec_cdev_ioctl_voe_write(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3142
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3143
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3144
        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
  3145
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3146
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3147
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3148
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3149
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3150
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3151
    if (unlikely(!priv->requested))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3152
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3153
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3154
    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
  3155
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3156
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3157
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3158
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3159
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3160
    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
  3161
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3162
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3163
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3164
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3165
    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
  3166
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3167
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3168
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3169
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3170
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3171
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3172
    if (data.size) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3173
        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
  3174
            return -EOVERFLOW;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3175
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3176
        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
  3177
                    (void __user *) data.data, data.size))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3178
            return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3179
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3180
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3181
    ecrt_voe_handler_write(voe, data.size);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3182
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3183
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3184
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3185
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3186
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3187
/** Executes the VoE state machine.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3188
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3189
int ec_cdev_ioctl_voe_exec(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3190
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3191
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3192
        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
  3193
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3194
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3195
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3196
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3197
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3198
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3199
    if (unlikely(!priv->requested))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3200
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3201
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3202
    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
  3203
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3204
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3205
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3206
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3207
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3208
    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
  3209
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3210
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3211
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3212
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3213
    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
  3214
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3215
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3216
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3217
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3218
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3219
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3220
    data.state = ecrt_voe_handler_execute(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3221
    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
  3222
        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
  3223
    else
cd278db5a872 Minor fix in VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1349
diff changeset
  3224
        data.size = 0;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3225
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3226
    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
  3227
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3228
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3229
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3230
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3231
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3232
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3233
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3234
/** Reads the received VoE data.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3235
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3236
int ec_cdev_ioctl_voe_data(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3237
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3238
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3239
        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
  3240
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3241
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3242
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3243
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3244
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3245
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3246
    if (unlikely(!priv->requested))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3247
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3248
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3249
    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
  3250
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3251
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3252
    if (down_interruptible(&master->master_sem))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3253
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3254
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3255
    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
  3256
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3257
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3258
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3259
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3260
    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
  3261
        up(&master->master_sem);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3262
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3263
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3265
    up(&master->master_sem);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3266
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3267
    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
  3268
                ecrt_voe_handler_data_size(voe)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3269
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3270
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3271
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3272
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3273
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3274
/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3275
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3276
/** 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
  3277
 */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3278
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
  3279
        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
  3280
        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
  3281
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3282
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3283
    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
  3284
    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
  3285
    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
  3286
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3287
    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
  3288
        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
  3289
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3290
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3291
    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
  3292
    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
  3293
    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
  3294
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3295
    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
  3296
        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
  3297
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3298
    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
  3299
                    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
  3300
        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
  3301
        ec_foe_request_clear(&request.req);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3302
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3303
                data.slave_position);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3304
        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
  3305
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3306
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3307
    // schedule request.
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
  3308
    list_add_tail(&request.list, &request.slave->foe_requests);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3309
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3310
    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
  3311
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3312
    EC_SLAVE_DBG(request.slave, 1, "Scheduled FoE read request.\n");
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  3313
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3314
    // wait for processing through FSM
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
  3315
    if (wait_event_interruptible(request.slave->foe_queue,
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3316
                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
  3317
        // 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
  3318
        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
  3319
        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
  3320
            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
  3321
            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
  3322
            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
  3323
            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
  3324
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3325
        // 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
  3326
        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
  3327
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3328
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3329
    // wait until master FSM has finished processing
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3330
    wait_event(request.slave->foe_queue,
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3331
            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
  3332
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  3333
    data.result = request.req.result;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  3334
    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
  3335
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3336
    EC_SLAVE_DBG(request.slave, 1, "Read %zd bytes via FoE"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3337
            " (result = 0x%x).\n", 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
  3338
1349
9baba3568df4 Fixed FoE request states.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
  3339
    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
  3340
        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
  3341
        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
  3342
    } else {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3343
        if (request.req.data_size > data.buffer_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3344
            EC_MASTER_ERR(master, "Buffer too small.\n");
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3345
            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
  3346
            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
  3347
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3348
        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
  3349
        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
  3350
                    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
  3351
            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
  3352
            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
  3353
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3354
        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
  3355
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3356
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3357
    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
  3358
        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
  3359
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3360
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3361
    EC_SLAVE_DBG(request.slave, 1, "Finished FoE read request.\n");
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  3362
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3363
    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
  3364
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3365
    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
  3366
}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3367
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3368
/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3369
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3370
/** 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
  3371
 */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3372
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
  3373
        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
  3374
        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
  3375
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3376
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3377
    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
  3378
    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
  3379
    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
  3380
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3381
    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
  3382
        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
  3383
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3384
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3385
    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
  3386
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3387
    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
  3388
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3389
    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
  3390
        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
  3391
        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
  3392
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3393
    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
  3394
                (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
  3395
        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
  3396
        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
  3397
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3398
    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
  3399
    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
  3400
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3401
    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
  3402
        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
  3403
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3404
    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
  3405
                    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
  3406
        up(&master->master_sem);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3407
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3408
                data.slave_position);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3409
        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
  3410
        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
  3411
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3412
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3413
    EC_SLAVE_DBG(request.slave, 1, "Scheduling FoE write request.\n");
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3414
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3415
    // schedule FoE write request.
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
  3416
    list_add_tail(&request.list, &request.slave->foe_requests);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3417
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3418
    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
  3419
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3420
    // wait for processing through FSM
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
  3421
    if (wait_event_interruptible(request.slave->foe_queue,
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3422
                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
  3423
        // 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
  3424
        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
  3425
        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
  3426
            // 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
  3427
            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
  3428
            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
  3429
            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
  3430
            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
  3431
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3432
        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
  3433
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3434
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3435
    // wait until master FSM has finished processing
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3436
    wait_event(request.slave->foe_queue,
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3437
            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
  3438
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  3439
    data.result = request.req.result;
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  3440
    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
  3441
1349
9baba3568df4 Fixed FoE request states.
Florian Pose <fp@igh-essen.com>
parents: 1337
diff changeset
  3442
    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
  3443
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3444
    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
  3445
        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
  3446
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3447
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3448
    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
  3449
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3450
    EC_SLAVE_DBG(request.slave, 1, "Finished FoE write request.\n");
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3451
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3452
    return retval;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3453
}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3454
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3455
/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3456
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3457
/** Read an SoE IDN.
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3458
 */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3459
int ec_cdev_ioctl_slave_soe_read(
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3460
        ec_master_t *master, /**< EtherCAT master. */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3461
        unsigned long arg /**< ioctl() argument. */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3462
        )
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3463
{
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  3464
    ec_ioctl_slave_soe_read_t ioctl;
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3465
    u8 *data;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3466
    int retval;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3467
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  3468
    if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3469
        return -EFAULT;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3470
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3471
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3472
    data = kmalloc(ioctl.mem_size, GFP_KERNEL);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3473
    if (!data) {
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3474
        EC_MASTER_ERR(master, "Failed to allocate %u bytes of IDN data.\n",
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3475
                ioctl.mem_size);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3476
        return -ENOMEM;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3477
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3478
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3479
    retval = ecrt_master_read_idn(master, ioctl.slave_position,
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
  3480
            ioctl.drive_no, ioctl.idn, data, ioctl.mem_size, &ioctl.data_size,
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3481
            &ioctl.error_code);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3482
    if (retval) {
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3483
        kfree(data);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3484
        return retval;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3485
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3486
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3487
    if (copy_to_user((void __user *) ioctl.data,
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3488
                data, ioctl.data_size)) {
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3489
        kfree(data);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3490
        return -EFAULT;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3491
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3492
    kfree(data);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3493
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  3494
    if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3495
        retval = -EFAULT;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3496
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3497
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3498
    EC_MASTER_DBG(master, 1, "Finished SoE read request.\n");
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3499
    return retval;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3500
}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3501
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3502
/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3503
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3504
/** Write an IDN to a slave via SoE.
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3505
 */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3506
int ec_cdev_ioctl_slave_soe_write(
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3507
        ec_master_t *master, /**< EtherCAT master. */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3508
        unsigned long arg /**< ioctl() argument. */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3509
        )
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3510
{
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  3511
    ec_ioctl_slave_soe_write_t ioctl;
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3512
    u8 *data;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3513
    int retval;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3514
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  3515
    if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3516
        return -EFAULT;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3517
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3518
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3519
    data = kmalloc(ioctl.data_size, GFP_KERNEL);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3520
    if (!data) {
1972
c1b564299829 Minor 64bit improvements.
Florian Pose <fp@igh-essen.com>
parents: 1966
diff changeset
  3521
        EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n",
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3522
                ioctl.data_size);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3523
        return -ENOMEM;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3524
    }
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3525
    if (copy_from_user(data, (void __user *) ioctl.data, ioctl.data_size)) {
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3526
        kfree(data);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3527
        return -EFAULT;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3528
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3529
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3530
    retval = ecrt_master_write_idn(master, ioctl.slave_position,
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
  3531
            ioctl.drive_no, ioctl.idn, data, ioctl.data_size,
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
  3532
            &ioctl.error_code);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3533
    kfree(data);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3534
    if (retval) {
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3535
        return retval;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3536
    }
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3537
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  3538
    if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3539
        retval = -EFAULT;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3540
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3541
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3542
    EC_MASTER_DBG(master, 1, "Finished SoE write request.\n");
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3543
    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
  3544
}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3545
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3546
/******************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3547
 * File operations
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3548
 *****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3549
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3550
/** Called when the cdev is opened.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3551
 */
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3552
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
  3553
{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3554
    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
  3555
    ec_cdev_priv_t *priv;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3556
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3557
    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
  3558
    if (!priv) {
1922
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  3559
        EC_MASTER_ERR(cdev->master,
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  3560
                "Failed to allocate memory for private data structure.\n");
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3561
        return -ENOMEM;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3562
    }
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3563
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3564
    priv->cdev = cdev;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3565
    priv->requested = 0;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3566
    priv->process_data = NULL;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3567
    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
  3568
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3569
    filp->private_data = priv;
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3570
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3571
#if DEBUG_IOCTL
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1922
diff changeset
  3572
    EC_MASTER_DBG(cdev->master, 0, "File opened.\n");
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3573
#endif
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3574
    return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3575
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3576
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3577
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3578
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3579
/** Called when the cdev is closed.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3580
 */
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3581
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
  3582
{
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3583
    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
  3584
    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
  3585
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3586
    if (priv->requested)
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3587
        ecrt_release_master(master);
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3588
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3589
    if (priv->process_data)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3590
        vfree(priv->process_data);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3591
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3592
#if DEBUG_IOCTL
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1922
diff changeset
  3593
    EC_MASTER_DBG(master, 0, "File closed.\n");
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3594
#endif
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3595
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3596
    kfree(priv);
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3597
    return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3598
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3599
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3600
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3601
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3602
/** Called when an ioctl() command is issued.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3603
 */
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3604
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
  3605
{
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3606
    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
  3607
    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
  3608
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3609
#if DEBUG_IOCTL
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1922
diff changeset
  3610
    EC_MASTER_DBG(master, 0, "ioctl(filp = 0x%p, cmd = 0x%08x (0x%02x),"
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1922
diff changeset
  3611
            " arg = 0x%lx)\n", filp, cmd, _IOC_NR(cmd), arg);
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3612
#endif
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3613
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3614
    switch (cmd) {
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  3615
        case EC_IOCTL_MODULE:
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  3616
            return ec_cdev_ioctl_module(arg);
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  3617
        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
  3618
            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
  3619
        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
  3620
            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
  3621
        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
  3622
            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
  3623
        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
  3624
            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
  3625
        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
  3626
            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
  3627
        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
  3628
            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
  3629
        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
  3630
            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
  3631
        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
  3632
            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
  3633
        case EC_IOCTL_MASTER_DEBUG:
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  3634
            if (!(filp->f_mode & FMODE_WRITE))
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  3635
                return -EPERM;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3636
            return ec_cdev_ioctl_master_debug(master, arg);
1961
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3637
        case EC_IOCTL_MASTER_RESCAN:
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3638
            if (!(filp->f_mode & FMODE_WRITE))
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3639
                return -EPERM;
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3640
            return ec_cdev_ioctl_master_rescan(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
  3641
        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
  3642
            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
  3643
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3644
            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
  3645
        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
  3646
            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
  3647
        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
  3648
            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
  3649
        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
  3650
            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
  3651
        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
  3652
            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
  3653
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3654
            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
  3655
        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
  3656
            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
  3657
        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
  3658
            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
  3659
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3660
            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
  3661
        case EC_IOCTL_SLAVE_REG_READ:
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  3662
            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
  3663
        case EC_IOCTL_SLAVE_REG_WRITE:
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  3664
            if (!(filp->f_mode & FMODE_WRITE))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  3665
                return -EPERM;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  3666
            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
  3667
        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
  3668
            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
  3669
        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
  3670
            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
  3671
                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
  3672
            return ec_cdev_ioctl_slave_foe_write(master, arg);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3673
        case EC_IOCTL_SLAVE_SOE_READ:
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3674
            return ec_cdev_ioctl_slave_soe_read(master, arg);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3675
        case EC_IOCTL_SLAVE_SOE_WRITE:
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3676
            if (!(filp->f_mode & FMODE_WRITE))
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3677
                return -EPERM;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3678
            return ec_cdev_ioctl_slave_soe_write(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3679
        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
  3680
            return ec_cdev_ioctl_config(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3681
        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
  3682
            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
  3683
        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
  3684
            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
  3685
        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
  3686
            return ec_cdev_ioctl_config_sdo(master, arg);
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  3687
        case EC_IOCTL_CONFIG_IDN:
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  3688
            return ec_cdev_ioctl_config_idn(master, arg);
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  3689
#ifdef EC_EOE
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  3690
        case EC_IOCTL_EOE_HANDLER:
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  3691
            return ec_cdev_ioctl_eoe_handler(master, arg);
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  3692
#endif
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3693
        case EC_IOCTL_REQUEST:
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3694
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3695
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3696
            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
  3697
        case EC_IOCTL_CREATE_DOMAIN:
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  3698
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3699
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3700
            return ec_cdev_ioctl_create_domain(master, arg, priv);
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  3701
        case EC_IOCTL_CREATE_SLAVE_CONFIG:
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  3702
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3703
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3704
            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
  3705
        case EC_IOCTL_ACTIVATE:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3706
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3707
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3708
            return ec_cdev_ioctl_activate(master, arg, priv);
1531
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  3709
        case EC_IOCTL_DEACTIVATE:
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  3710
            if (!(filp->f_mode & FMODE_WRITE))
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  3711
                return -EPERM;
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  3712
            return ec_cdev_ioctl_deactivate(master, arg, priv);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3713
        case EC_IOCTL_SEND:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3714
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3715
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3716
            return ec_cdev_ioctl_send(master, arg, priv);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3717
        case EC_IOCTL_RECEIVE:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3718
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3719
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3720
            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
  3721
        case EC_IOCTL_MASTER_STATE:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3722
            return ec_cdev_ioctl_master_state(master, arg, priv);
1978
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  3723
        case EC_IOCTL_MASTER_SC_STATE:
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  3724
            return ec_cdev_ioctl_master_sc_state(master, arg, priv);
1454
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  3725
        case EC_IOCTL_APP_TIME:
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  3726
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3727
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3728
            return ec_cdev_ioctl_app_time(master, arg, priv);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3729
        case EC_IOCTL_SYNC_REF:
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3730
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3731
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3732
            return ec_cdev_ioctl_sync_ref(master, arg, priv);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3733
        case EC_IOCTL_SYNC_SLAVES:
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3734
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3735
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3736
            return ec_cdev_ioctl_sync_slaves(master, arg, priv);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3737
        case EC_IOCTL_SYNC_MON_QUEUE:
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3738
            if (!(filp->f_mode & FMODE_WRITE))
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3739
                return -EPERM;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3740
            return ec_cdev_ioctl_sync_mon_queue(master, arg, priv);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3741
        case EC_IOCTL_SYNC_MON_PROCESS:
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3742
            if (!(filp->f_mode & FMODE_WRITE))
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3743
                return -EPERM;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3744
            return ec_cdev_ioctl_sync_mon_process(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3745
        case EC_IOCTL_SC_SYNC:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3746
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3747
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3748
            return ec_cdev_ioctl_sc_sync(master, arg, priv);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  3749
        case EC_IOCTL_SC_WATCHDOG:
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  3750
            if (!(filp->f_mode & FMODE_WRITE))
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  3751
                return -EPERM;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  3752
            return ec_cdev_ioctl_sc_watchdog(master, arg, priv);
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  3753
        case EC_IOCTL_SC_OVERLAPPING_IO:
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  3754
            if (!(filp->f_mode & FMODE_WRITE))
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  3755
                return -EPERM;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  3756
            return ec_cdev_ioctl_sc_allow_overlapping_pdos(master,arg,priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3757
        case EC_IOCTL_SC_ADD_PDO:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3758
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3759
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3760
            return ec_cdev_ioctl_sc_add_pdo(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3761
        case EC_IOCTL_SC_CLEAR_PDOS:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3762
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3763
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3764
            return ec_cdev_ioctl_sc_clear_pdos(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3765
        case EC_IOCTL_SC_ADD_ENTRY:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3766
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3767
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3768
            return ec_cdev_ioctl_sc_add_entry(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3769
        case EC_IOCTL_SC_CLEAR_ENTRIES:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3770
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3771
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3772
            return ec_cdev_ioctl_sc_clear_entries(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3773
        case EC_IOCTL_SC_REG_PDO_ENTRY:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3774
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3775
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3776
            return ec_cdev_ioctl_sc_reg_pdo_entry(master, arg, priv);
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  3777
        case EC_IOCTL_SC_DC:
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3778
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3779
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3780
            return ec_cdev_ioctl_sc_dc(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3781
        case EC_IOCTL_SC_SDO:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3782
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3783
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3784
            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
  3785
        case EC_IOCTL_SC_SDO_REQUEST:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3786
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3787
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3788
            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
  3789
        case EC_IOCTL_SC_VOE:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3790
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3791
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3792
            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
  3793
        case EC_IOCTL_SC_STATE:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3794
            return ec_cdev_ioctl_sc_state(master, arg, priv);
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  3795
        case EC_IOCTL_SC_IDN:
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  3796
            if (!(filp->f_mode & FMODE_WRITE))
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  3797
                return -EPERM;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  3798
            return ec_cdev_ioctl_sc_idn(master, arg, priv);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3799
        case EC_IOCTL_DOMAIN_OFFSET:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3800
            return ec_cdev_ioctl_domain_offset(master, arg, priv);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3801
        case EC_IOCTL_DOMAIN_PROCESS:
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3802
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3803
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3804
            return ec_cdev_ioctl_domain_process(master, arg, priv);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3805
        case EC_IOCTL_DOMAIN_QUEUE:
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3806
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3807
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3808
            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
  3809
        case EC_IOCTL_DOMAIN_STATE:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3810
            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
  3811
        case EC_IOCTL_SDO_REQUEST_TIMEOUT:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3812
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3813
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3814
            return ec_cdev_ioctl_sdo_request_timeout(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3815
        case EC_IOCTL_SDO_REQUEST_STATE:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3816
            return ec_cdev_ioctl_sdo_request_state(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3817
        case EC_IOCTL_SDO_REQUEST_READ:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3818
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3819
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3820
            return ec_cdev_ioctl_sdo_request_read(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3821
        case EC_IOCTL_SDO_REQUEST_WRITE:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3822
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3823
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3824
            return ec_cdev_ioctl_sdo_request_write(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3825
        case EC_IOCTL_SDO_REQUEST_DATA:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3826
            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
  3827
        case EC_IOCTL_VOE_SEND_HEADER:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3828
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3829
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3830
            return ec_cdev_ioctl_voe_send_header(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3831
        case EC_IOCTL_VOE_REC_HEADER:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3832
            return ec_cdev_ioctl_voe_rec_header(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3833
        case EC_IOCTL_VOE_READ:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3834
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3835
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3836
            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
  3837
        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
  3838
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3839
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3840
            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
  3841
        case EC_IOCTL_VOE_WRITE:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3842
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3843
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3844
            return ec_cdev_ioctl_voe_write(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3845
        case EC_IOCTL_VOE_EXEC:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3846
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3847
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3848
            return ec_cdev_ioctl_voe_exec(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3849
        case EC_IOCTL_VOE_DATA:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3850
            return ec_cdev_ioctl_voe_data(master, arg, priv);
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  3851
        case EC_IOCTL_SET_SEND_INTERVAL:
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  3852
            if (!(filp->f_mode & FMODE_WRITE))
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  3853
                return -EPERM;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3854
            return ec_cdev_ioctl_set_send_interval(master, arg, priv);
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3855
        default:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3856
            return -ENOTTY;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3857
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3858
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3859
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3860
/*****************************************************************************/
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3861
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3862
/** Memory-map callback for the EtherCAT character device.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3863
 *
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3864
 * 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
  3865
 * virtual memory area.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3866
 */
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3867
int eccdev_mmap(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3868
        struct file *filp,
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3869
        struct vm_area_struct *vma
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3870
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3871
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3872
    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
  3873
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3874
    EC_MASTER_DBG(priv->cdev->master, 1, "mmap()\n");
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3875
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3876
    vma->vm_ops = &eccdev_vm_ops;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3877
    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
  3878
    vma->vm_private_data = priv;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3879
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3880
    return 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3881
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3882
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3883
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3884
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3885
#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
  3886
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3887
/** Page fault callback for a virtual memory area.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3888
 *
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3889
 * 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
  3890
 * ecdev_mmap().
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3891
 */
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3892
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
  3893
        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
  3894
        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
  3895
        )
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3896
{
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3897
    unsigned long offset = vmf->pgoff << PAGE_SHIFT;
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3898
    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
  3899
    struct page *page;
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3900
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3901
    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
  3902
        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
  3903
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3904
    page = vmalloc_to_page(priv->process_data + offset);
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3905
    if (!page)
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3906
        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
  3907
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3908
    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
  3909
    vmf->page = page;
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3910
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3911
    EC_MASTER_DBG(priv->cdev->master, 1, "Vma fault, virtual_address = %p,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3912
            " offset = %lu, page = %p\n", vmf->virtual_address, offset, page);
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3913
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3914
    return 0;
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3915
}
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3916
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3917
#else
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3918
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3919
/** 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
  3920
 *
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3921
 * 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
  3922
 * ecdev_mmap().
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3923
 */
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3924
struct page *eccdev_vma_nopage(
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3925
        struct vm_area_struct *vma, /**< Virtual memory area initialized by
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3926
                                      the kernel. */
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3927
        unsigned long address, /**< Requested virtual address. */
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3928
        int *type /**< Type output parameter. */
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3929
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3930
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3931
    unsigned long offset;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3932
    struct page *page = NOPAGE_SIGBUS;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3933
    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
  3934
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3935
    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
  3936
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3937
    if (offset >= priv->process_data_size)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3938
        return NOPAGE_SIGBUS;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3939
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3940
    page = vmalloc_to_page(priv->process_data + offset);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3941
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3942
    EC_MASTER_DBG(master, "Nopage fault vma, address = %#lx,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3943
            " offset = %#lx, page = %p\n", address, offset, page);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3944
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3945
    get_page(page);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3946
    if (type)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3947
        *type = VM_FAULT_MINOR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3948
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3949
    return page;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3950
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3951
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3952
#endif
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3953
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3954
/*****************************************************************************/