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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

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 *  published by the Free Software Foundation.

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 *

    13

 *  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

    15

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

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 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

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 *

    22

 *  ---

    23

 *

    24

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

    25

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master character device.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/vmalloc.h>

    39

#include <linux/mm.h>

    40

    41

#include "cdev.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

#include "voe_handler.h"

    45

#include "ioctl.h"

    46

    47

#define DEBUG_IOCTL 0

    48

    49

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

    50

    51

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

    52

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

    53

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

    54

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

    55

    56

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

    57

 * vm_operations_struct is usable.

    58

 */

    59

#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)

    60

    61

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    62

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

    63

#else

    64

static struct page *eccdev_vma_nopage(

    65

        struct vm_area_struct *, unsigned long, int *);

    66

#endif

    67

    68

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

    69

    70

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

    71

 */

    72

static struct file_operations eccdev_fops = {

    73

    .owner          = THIS_MODULE,

    74

    .open           = eccdev_open,

    75

    .release        = eccdev_release,

    76

    .unlocked_ioctl = eccdev_ioctl,

    77

    .mmap           = eccdev_mmap

    78

};

    79

    80

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

    81

 */

    82

struct vm_operations_struct eccdev_vm_ops = {

    83

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    84

    .fault = eccdev_vma_fault

    85

#else

    86

    .nopage = eccdev_vma_nopage

    87

#endif

    88

};

    89

    90

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

    91

    92

/** Private data structure for file handles.

    93

 */

    94

typedef struct {

    95

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

    96

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

    97

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

    98

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

    99

} ec_cdev_priv_t;

   100

   101

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

   102

   103

/** Constructor.

   104

 * 

   105

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

   106

 */

   107

int ec_cdev_init(

   108

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

   109

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

   110

		dev_t dev_num /**< Device number. */

   111

		)

   112

{

   113

    int ret;

   114

   115

    cdev->master = master;

   116

   117

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

   118

    cdev->cdev.owner = THIS_MODULE;

   119

   120

    ret = cdev_add(&cdev->cdev,

   121

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

   122

    if (ret) {

   123

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

   124

    }

   125

   126

    return ret;

   127

}

   128

   129

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

   130

   131

/** Destructor.

   132

 */

   133

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

   134

{

   135

    cdev_del(&cdev->cdev);

   136

}

   137

   138

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

   139

   140

/** Copies a string to an ioctl structure.

   141

 */

   142

void ec_cdev_strcpy(

   143

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

   144

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

   145

        )

   146

{

   147

    if (source) {

   148

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   149

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   150

    } else {

   151

        target[0] = 0;

   152

    }

   153

}

   154

   155

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

   156

   157

/** Get master information.

   158

 */

   159

int ec_cdev_ioctl_master(

   160

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

   161

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

   162

        )

   163

{

   164

    ec_ioctl_master_t data;

   165

   166

    if (down_interruptible(&master->master_sem))

   167

        return -EINTR;

   168

    data.slave_count = master->slave_count;

   169

    data.config_count = ec_master_config_count(master);

   170

    data.domain_count = ec_master_domain_count(master);

   171

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

   172

    up(&master->master_sem);

   173

   174

    if (down_interruptible(&master->device_sem))

   175

        return -EINTR;

   176

   177

    if (master->main_device.dev) {

   178

        memcpy(data.devices[0].address,

   179

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

   180

    } else {

   181

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

   182

    }

   183

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

   184

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

   185

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

   186

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

   187

   188

    if (master->backup_device.dev) {

   189

        memcpy(data.devices[1].address,

   190

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

   191

    } else {

   192

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

   193

    }

   194

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

   195

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

   196

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

   197

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

   198

   199

    up(&master->device_sem);

   200

   201

    data.app_time = master->app_time;

   204

   205

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

   206

        return -EFAULT;

   207

   208

    return 0;

   209

}

   210

   211

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

   212

   213

/** Get slave information.

   214

 */

   215

int ec_cdev_ioctl_slave(

   216

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

   217

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

   218

        )

   219

{

   220

    ec_ioctl_slave_t data;

   221

    const ec_slave_t *slave;

   222

    int i;

   223

   224

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

   225

        return -EFAULT;

   226

    }

   227

   228

    if (down_interruptible(&master->master_sem))

   229

        return -EINTR;

   230

   231

    if (!(slave = ec_master_find_slave_const(

   232

                    master, 0, data.position))) {

   233

        up(&master->master_sem);

   234

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

   235

        return -EINVAL;

   236

    }

   237

   238

    data.vendor_id = slave->sii.vendor_id;

   239

    data.product_code = slave->sii.product_code;

   240

    data.revision_number = slave->sii.revision_number;

   241

    data.serial_number = slave->sii.serial_number;

   242

    data.alias = slave->sii.alias;

   243

    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;

   244

    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;

   245

    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;

   246

    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;

   247

    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;

   248

    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;

   249

    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;

   250

    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;

   251

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   252

    data.has_general_category = slave->sii.has_general;

   253

    data.coe_details = slave->sii.coe_details;

   254

    data.general_flags = slave->sii.general_flags;

   255

    data.current_on_ebus = slave->sii.current_on_ebus;

   256

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

   257

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

   258

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

   259

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

   260

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

   261

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

   262

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

   263

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

   264

        } else {

   265

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

   266

        }

   267

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

   268

    }

   269

    data.fmmu_bit = slave->base_fmmu_bit_operation;

   270

    data.dc_supported = slave->base_dc_supported;

   271

    data.dc_range = slave->base_dc_range;

   272

    data.has_dc_system_time = slave->has_dc_system_time;

   273

    data.transmission_delay = slave->transmission_delay;

   274

    data.al_state = slave->current_state;

   275

    data.error_flag = slave->error_flag;

   276

   277

    data.sync_count = slave->sii.sync_count;

   278

    data.sdo_count = ec_slave_sdo_count(slave);

   279

    data.sii_nwords = slave->sii_nwords;

   280

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

   281

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

   282

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

   283

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

   284

   285

    up(&master->master_sem);

   286

   287

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

   288

        return -EFAULT;

   289

   290

    return 0;

   291

}

   292

   293

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

   294

   295

/** Get slave sync manager information.

   296

 */

   297

int ec_cdev_ioctl_slave_sync(

   298

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

   299

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

   300

        )

   301

{

   302

    ec_ioctl_slave_sync_t data;

   303

    const ec_slave_t *slave;

   304

    const ec_sync_t *sync;

   305

   306

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

   307

        return -EFAULT;

   308

    }

   309

   310

    if (down_interruptible(&master->master_sem))

   311

        return -EINTR;

   312

   313

    if (!(slave = ec_master_find_slave_const(

   314

                    master, 0, data.slave_position))) {

   315

        up(&master->master_sem);

   316

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

   317

        return -EINVAL;

   318

    }

   319

   320

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

   321

        up(&master->master_sem);

   322

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

   323

                data.sync_index, data.slave_position);

   324

        return -EINVAL;

   325

    }

   326

   327

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

   328

   329

    data.physical_start_address = sync->physical_start_address;

   330

    data.default_size = sync->default_length;

   331

    data.control_register = sync->control_register;

   332

    data.enable = sync->enable;

   333

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

   334

   335

    up(&master->master_sem);

   336

   337

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

   338

        return -EFAULT;

   339

   340

    return 0;

   341

}

   342

   343

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

   344

   345

/** Get slave sync manager PDO information.

   346

 */

   347

int ec_cdev_ioctl_slave_sync_pdo(

   348

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

   349

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

   350

        )

   351

{

   352

    ec_ioctl_slave_sync_pdo_t data;

   353

    const ec_slave_t *slave;

   354

    const ec_sync_t *sync;

   355

    const ec_pdo_t *pdo;

   356

   357

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

   358

        return -EFAULT;

   359

    }

   360

   361

    if (down_interruptible(&master->master_sem))

   362

        return -EINTR;

   363

   364

    if (!(slave = ec_master_find_slave_const(

   365

                    master, 0, data.slave_position))) {

   366

        up(&master->master_sem);

   367

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

   368

        return -EINVAL;

   369

    }

   370

   371

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

   372

        up(&master->master_sem);

   373

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

   374

                data.sync_index, data.slave_position);

   375

        return -EINVAL;

   376

    }

   377

   378

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

   379

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   380

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

   381

        up(&master->master_sem);

   382

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

   383

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

   384

                data.pdo_pos, data.slave_position);

   385

        return -EINVAL;

   386

    }

   387

   388

    data.index = pdo->index;

   389

    data.entry_count = ec_pdo_entry_count(pdo);

   390

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

   391

   392

    up(&master->master_sem);

   393

   394

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

   395

        return -EFAULT;

   396

   397

    return 0;

   398

}

   399

   400

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

   401

   402

/** Get slave sync manager PDO entry information.

   403

 */

   404

int ec_cdev_ioctl_slave_sync_pdo_entry(

   405

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

   406

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

   407

        )

   408

{

   409

    ec_ioctl_slave_sync_pdo_entry_t data;

   410

    const ec_slave_t *slave;

   411

    const ec_sync_t *sync;

   412

    const ec_pdo_t *pdo;

   413

    const ec_pdo_entry_t *entry;

   414

   415

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

   416

        return -EFAULT;

   417

    }

   418

   419

    if (down_interruptible(&master->master_sem))

   420

        return -EINTR;

   421

   422

    if (!(slave = ec_master_find_slave_const(

   423

                    master, 0, data.slave_position))) {

   424

        up(&master->master_sem);

   425

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

   426

        return -EINVAL;

   427

    }

   428

   429

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

   430

        up(&master->master_sem);

   431

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

   432

                data.sync_index, data.slave_position);

   433

        return -EINVAL;

   434

    }

   435

   436

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

   437

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   438

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

   439

        up(&master->master_sem);

   440

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

   441

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

   442

                data.pdo_pos, data.slave_position);

   443

        return -EINVAL;

   444

    }

   445

   446

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   447

                    pdo, data.entry_pos))) {

   448

        up(&master->master_sem);

   449

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

   450

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

   451

                data.entry_pos, data.slave_position);

   452

        return -EINVAL;

   453

    }

   454

   455

    data.index = entry->index;

   456

    data.subindex = entry->subindex;

   457

    data.bit_length = entry->bit_length;

   458

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

   459

   460

    up(&master->master_sem);

   461

   462

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

   463

        return -EFAULT;

   464

   465

    return 0;

   466

}

   467

   468

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

   469

   470

/** Get domain information.

   471

 */

   472

int ec_cdev_ioctl_domain(

   473

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

   474

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

   475

        )

   476

{

   477

    ec_ioctl_domain_t data;

   478

    const ec_domain_t *domain;

   479

   480

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

   481

        return -EFAULT;

   482

    }

   483

   484

    if (down_interruptible(&master->master_sem))

   485

        return -EINTR;

   486

   487

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

   488

        up(&master->master_sem);

   489

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

   490

        return -EINVAL;

   491

    }

   492

   493

    data.data_size = domain->data_size;

   494

    data.logical_base_address = domain->logical_base_address;