1

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

     2

 *

     3

 *  $Id$

     4

 *

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

    12

 *

    17

 *

    20

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

    21

 *

    24

 *

    25

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

    26

    27

/**

    28

   \file

    29

   EtherCAT master character device.

    30

*/

    31

    32

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

    33

    34

#include <linux/module.h>

    35

#include <linux/vmalloc.h>

    36

#include <linux/mm.h>

    37

    38

#include "cdev.h"

    39

#include "master.h"

    40

#include "slave_config.h"

    41

#include "voe_handler.h"

    42

#include "ioctl.h"

    43

    44

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

    45

    46

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

    47

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

    48

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

    49

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

    50

    51

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

    52

 * vm_operations_struct is usable.

    53

 */

    54

#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)

    55

    56

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    57

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

    58

#else

    59

static struct page *eccdev_vma_nopage(

    60

        struct vm_area_struct *, unsigned long, int *);

    61

#endif

    62

    63

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

    64

    65

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

    66

 */

    67

static struct file_operations eccdev_fops = {

    68

    .owner          = THIS_MODULE,

    69

    .open           = eccdev_open,

    70

    .release        = eccdev_release,

    71

    .unlocked_ioctl = eccdev_ioctl,

    72

    .mmap           = eccdev_mmap

    73

};

    74

    75

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

    76

 */

    77

struct vm_operations_struct eccdev_vm_ops = {

    78

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    79

    .fault = eccdev_vma_fault

    80

#else

    81

    .nopage = eccdev_vma_nopage

    82

#endif

    83

};

    84

    85

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

    86

    87

/** Private data structure for file handles.

    88

 */

    89

typedef struct {

    90

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

    91

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

    92

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

    93

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

    94

} ec_cdev_priv_t;

    95

    96

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

    97

    98

/** Constructor.

    99

 * 

   100

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

   101

 */

   102

int ec_cdev_init(

   103

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

   104

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

   105

		dev_t dev_num /**< Device number. */

   106

		)

   107

{

   108

    int ret;

   109

   110

    cdev->master = master;

   111

   112

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

   113

    cdev->cdev.owner = THIS_MODULE;

   114

   115

    ret = cdev_add(&cdev->cdev,

   116

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

   117

    if (ret) {

   118

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

   119

    }

   120

   121

    return ret;

   122

}

   123

   124

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

   125

   126

/** Destructor.

   127

 */

   128

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

   129

{

   130

    cdev_del(&cdev->cdev);

   131

}

   132

   133

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

   134

   135

/** Copies a string to an ioctl structure.

   136

 */

   137

void ec_cdev_strcpy(

   138

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

   139

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

   140

        )

   141

{

   142

    if (source) {

   143

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   144

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   145

    } else {

   146

        target[0] = 0;

   147

    }

   148

}

   149

   150

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

   151

   152

/** Get master information.

   153

 */

   154

int ec_cdev_ioctl_master(

   155

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

   156

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

   157

        )

   158

{

   159

    ec_ioctl_master_t data;

   160

   161

    if (down_interruptible(&master->master_sem))

   162

        return -EINTR;

   163

    data.slave_count = master->slave_count;

   164

    data.config_count = ec_master_config_count(master);

   165

    data.domain_count = ec_master_domain_count(master);

   166

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

   167

    up(&master->master_sem);

   168

   169

    if (down_interruptible(&master->device_sem))

   170

        return -EINTR;

   171

    if (master->main_device.dev) {

   172

        memcpy(data.devices[0].address,

   173

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

   174

    } else {

   175

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

   176

    }

   177

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

   178

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

   179

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

   180

   181

    if (master->backup_device.dev) {

   182

        memcpy(data.devices[1].address,

   183

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

   184

    } else {

   185

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

   186

    }

   187

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

   188

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

   189

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

   190

    up(&master->device_sem);

   191

   192

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

   193

        return -EFAULT;

   194

   195

    return 0;

   196

}

   197

   198

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

   199

   200

/** Get slave information.

   201

 */

   202

int ec_cdev_ioctl_slave(

   203

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

   204

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

   205

        )

   206

{

   207

    ec_ioctl_slave_t data;

   208

    const ec_slave_t *slave;

   209

   210

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

   211

        return -EFAULT;

   212

    }

   213

   214

    if (down_interruptible(&master->master_sem))

   215

        return -EINTR;

   216

   217

    if (!(slave = ec_master_find_slave_const(

   218

                    master, 0, data.position))) {

   219

        up(&master->master_sem);

   220

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

   221

        return -EINVAL;

   222

    }

   223

   224

    data.vendor_id = slave->sii.vendor_id;

   225

    data.product_code = slave->sii.product_code;

   226

    data.revision_number = slave->sii.revision_number;

   227

    data.serial_number = slave->sii.serial_number;

   228

    data.alias = slave->sii.alias;

   229

    data.rx_mailbox_offset = slave->sii.rx_mailbox_offset;

   230

    data.rx_mailbox_size = slave->sii.rx_mailbox_size;

   231

    data.tx_mailbox_offset = slave->sii.tx_mailbox_offset;

   232

    data.tx_mailbox_size = slave->sii.tx_mailbox_size;

   233

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   234

    data.has_general_category = slave->sii.has_general;

   235

    data.coe_details = slave->sii.coe_details;

   236

    data.general_flags = slave->sii.general_flags;

   237

    data.current_on_ebus = slave->sii.current_on_ebus;

   238

    data.al_state = slave->current_state;

   239

    data.error_flag = slave->error_flag;

   240

   241

    data.sync_count = slave->sii.sync_count;

   242

    data.sdo_count = ec_slave_sdo_count(slave);

   243

    data.sii_nwords = slave->sii_nwords;

   244

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

   245

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

   246

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

   247

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

   248

   249

    up(&master->master_sem);

   250

   251

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

   252

        return -EFAULT;

   253

   254

    return 0;

   255

}

   256

   257

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

   258

   259

/** Get slave sync manager information.

   260

 */

   261

int ec_cdev_ioctl_slave_sync(

   262

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

   263

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

   264

        )

   265

{

   266

    ec_ioctl_slave_sync_t data;

   267

    const ec_slave_t *slave;

   268

    const ec_sync_t *sync;

   269

   270

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

   271

        return -EFAULT;

   272

    }

   273

   274

    if (down_interruptible(&master->master_sem))

   275

        return -EINTR;

   276

   277

    if (!(slave = ec_master_find_slave_const(

   278

                    master, 0, data.slave_position))) {

   279

        up(&master->master_sem);

   280

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

   281

        return -EINVAL;

   282

    }

   283

   284

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

   285

        up(&master->master_sem);

   286

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

   287

                data.sync_index, data.slave_position);

   288

        return -EINVAL;

   289

    }

   290

   291

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

   292

   293

    data.physical_start_address = sync->physical_start_address;

   294

    data.default_size = sync->default_length;

   295

    data.control_register = sync->control_register;

   296

    data.enable = sync->enable;

   297

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

   298

   299

    up(&master->master_sem);

   300

   301

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

   302

        return -EFAULT;

   303

   304

    return 0;

   305

}

   306

   307

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

   308

   309

/** Get slave sync manager Pdo information.

   310

 */

   311

int ec_cdev_ioctl_slave_sync_pdo(

   312

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

   313

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

   314

        )

   315

{

   316

    ec_ioctl_slave_sync_pdo_t data;

   317

    const ec_slave_t *slave;

   318

    const ec_sync_t *sync;

   319

    const ec_pdo_t *pdo;

   320

   321

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

   322

        return -EFAULT;

   323

    }

   324

   325

    if (down_interruptible(&master->master_sem))

   326

        return -EINTR;

   327

   328

    if (!(slave = ec_master_find_slave_const(

   329

                    master, 0, data.slave_position))) {

   330

        up(&master->master_sem);

   331

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

   332

        return -EINVAL;

   333

    }

   334

   335

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

   336

        up(&master->master_sem);

   337

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

   338

                data.sync_index, data.slave_position);

   339

        return -EINVAL;

   340

    }

   341

   342

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

   343

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   344

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

   345

        up(&master->master_sem);

   346

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

   347

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

   348

                data.pdo_pos, data.slave_position);

   349

        return -EINVAL;

   350

    }

   351

   352

    data.index = pdo->index;

   353

    data.entry_count = ec_pdo_entry_count(pdo);

   354

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

   355

   356

    up(&master->master_sem);

   357

   358

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

   359

        return -EFAULT;

   360

   361

    return 0;

   362

}

   363

   364

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

   365

   366

/** Get slave sync manager Pdo entry information.

   367

 */

   368

int ec_cdev_ioctl_slave_sync_pdo_entry(

   369

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

   370

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

   371

        )

   372

{

   373

    ec_ioctl_slave_sync_pdo_entry_t data;

   374

    const ec_slave_t *slave;

   375

    const ec_sync_t *sync;

   376

    const ec_pdo_t *pdo;

   377

    const ec_pdo_entry_t *entry;

   378

   379

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

   380

        return -EFAULT;

   381

    }

   382

   383

    if (down_interruptible(&master->master_sem))

   384

        return -EINTR;

   385

   386

    if (!(slave = ec_master_find_slave_const(

   387

                    master, 0, data.slave_position))) {

   388

        up(&master->master_sem);

   389

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

   390

        return -EINVAL;

   391

    }

   392

   393

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

   394

        up(&master->master_sem);

   395

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

   396

                data.sync_index, data.slave_position);

   397

        return -EINVAL;

   398

    }

   399

   400

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

   401

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   402

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

   403

        up(&master->master_sem);

   404

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

   405

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

   406

                data.pdo_pos, data.slave_position);

   407

        return -EINVAL;

   408

    }

   409

   410

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   411

                    pdo, data.entry_pos))) {

   412

        up(&master->master_sem);

   413

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

   414

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

   415

                data.entry_pos, data.slave_position);

   416

        return -EINVAL;

   417

    }

   418

   419

    data.index = entry->index;

   420

    data.subindex = entry->subindex;

   421

    data.bit_length = entry->bit_length;

   422

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

   423

   424

    up(&master->master_sem);

   425

   426

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

   427

        return -EFAULT;

   428

   429

    return 0;

   430

}

   431

   432

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

   433

   434

/** Get domain information.

   435

 */

   436

int ec_cdev_ioctl_domain(

   437

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

   438

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

   439

        )

   440

{

   441

    ec_ioctl_domain_t data;

   442

    const ec_domain_t *domain;

   443

   444

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

   445

        return -EFAULT;

   446

    }

   447

   448

    if (down_interruptible(&master->master_sem))

   449

        return -EINTR;

   450

   451

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

   452

        up(&master->master_sem);

   453

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

   454

        return -EINVAL;

   455

    }

   456

   457

    data.data_size = domain->data_size;

   458

    data.logical_base_address = domain->logical_base_address;

   459

    data.working_counter = domain->working_counter;

   460

    data.expected_working_counter = domain->expected_working_counter;

   461

    data.fmmu_count = ec_domain_fmmu_count(domain);

   462

   463

    up(&master->master_sem);

   464

   465

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

   466

        return -EFAULT;

   467

   468

    return 0;

   469

}

   470

   471

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

   472

   473

/** Get domain FMMU information.

   474

 */

   475

int ec_cdev_ioctl_domain_fmmu(

   476

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

   477

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

   478

        )

   479

{

   480

    ec_ioctl_domain_fmmu_t data;

   481

    const ec_domain_t *domain;

   482

    const ec_fmmu_config_t *fmmu;

   483

   484

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

   485

        return -EFAULT;

   486

    }

   487

   488

    if (down_interruptible(&master->master_sem))

   489

        return -EINTR;

   490

   491

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

   492

        up(&master->master_sem);

   493

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

   494

        return -EINVAL;

   495

    }

   496