1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

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

    12

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

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

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

    24

 *  charge under condition of compatibility of product made by

    25

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

    26

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

    27

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

    28

 *  EtherCAT specification (which are released themselves as an open

    29

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

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT master character device.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

    43

#include "cdev.h"

    44

#include "master.h"

    45

#include "slave_config.h"

    46

#include "ioctl.h"

    47

    48

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

    49

    50

/** \cond */

    51

    52

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

    53

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

    54

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

    55

    56

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

    57

    58

static struct file_operations eccdev_fops = {

    59

    .owner          = THIS_MODULE,

    60

    .open           = eccdev_open,

    61

    .release        = eccdev_release,

    62

    .unlocked_ioctl = eccdev_ioctl

    63

};

    64

    65

/** \endcond */

    66

    67

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

    68

    69

/** Constructor.

    70

 * 

    71

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

    72

 */

    73

int ec_cdev_init(

    74

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

    75

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

    76

		dev_t dev_num /**< Device number. */

    77

		)

    78

{

    79

    cdev->master = master;

    80

    81

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

    82

    cdev->cdev.owner = THIS_MODULE;

    83

    84

    if (cdev_add(&cdev->cdev,

    85

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

    86

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

    87

		return -1;

    88

    }

    89

    90

    return 0;

    91

}

    92

    93

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

    94

    95

/** Destructor.

    96

 */

    97

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

    98

{

    99

    cdev_del(&cdev->cdev);

   100

}

   101

   102

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

   103

   104

/** Copies a string to an ioctl structure.

   105

 */

   106

void ec_cdev_strcpy(

   107

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

   108

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

   109

        )

   110

{

   111

    if (source) {

   112

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   113

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   114

    } else {

   115

        target[0] = 0;

   116

    }

   117

}

   118

   119

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

   120

   121

/** Get master information.

   122

 */

   123

int ec_cdev_ioctl_master(

   124

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

   125

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

   126

        )

   127

{

   128

    ec_ioctl_master_t data;

   129

   130

    if (down_interruptible(&master->master_sem))

   131

        return -EINTR;

   132

    data.slave_count = master->slave_count;

   133

    data.config_count = ec_master_config_count(master);

   134

    data.domain_count = ec_master_domain_count(master);

   135

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

   136

    up(&master->master_sem);

   137

   138

    if (down_interruptible(&master->device_sem))

   139

        return -EINTR;

   140

    if (master->main_device.dev) {

   141

        memcpy(data.devices[0].address,

   142

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

   143

    } else {

   144

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

   145

    }

   146

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

   147

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

   148

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

   149

   150

    if (master->backup_device.dev) {

   151

        memcpy(data.devices[1].address,

   152

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

   153

    } else {

   154

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

   155

    }

   156

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

   157

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

   158

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

   159

    up(&master->device_sem);

   160

   161

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

   162

        return -EFAULT;

   163

   164

    return 0;

   165

}

   166

   167

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

   168

   169

/** Get slave information.

   170

 */

   171

int ec_cdev_ioctl_slave(

   172

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

   173

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

   174

        )

   175

{

   176

    ec_ioctl_slave_t data;

   177

    const ec_slave_t *slave;

   178

   179

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

   180

        return -EFAULT;

   181

    }

   182

   183

    if (down_interruptible(&master->master_sem))

   184

        return -EINTR;

   185

   186

    if (!(slave = ec_master_find_slave_const(

   187

                    master, 0, data.position))) {

   188

        up(&master->master_sem);

   189

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

   190

        return -EINVAL;

   191

    }

   192

   193

    data.vendor_id = slave->sii.vendor_id;

   194

    data.product_code = slave->sii.product_code;

   195

    data.revision_number = slave->sii.revision_number;

   196

    data.serial_number = slave->sii.serial_number;

   197

    data.alias = slave->sii.alias;

   198

    data.rx_mailbox_offset = slave->sii.rx_mailbox_offset;

   199

    data.rx_mailbox_size = slave->sii.rx_mailbox_size;

   200

    data.tx_mailbox_offset = slave->sii.tx_mailbox_offset;

   201

    data.tx_mailbox_size = slave->sii.tx_mailbox_size;

   202

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   203

    data.has_general_category = slave->sii.has_general;

   204

    data.coe_details = slave->sii.coe_details;

   205

    data.general_flags = slave->sii.general_flags;

   206

    data.current_on_ebus = slave->sii.current_on_ebus;

   207

    data.al_state = slave->current_state;

   208

    data.error_flag = slave->error_flag;

   209

   210

    data.sync_count = slave->sii.sync_count;

   211

    data.sdo_count = ec_slave_sdo_count(slave);

   212

    data.sii_nwords = slave->sii_nwords;

   213

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

   214

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

   215

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

   216

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

   217

   218

    up(&master->master_sem);

   219

   220

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

   221

        return -EFAULT;

   222

   223

    return 0;

   224

}

   225

   226

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

   227

   228

/** Get slave sync manager information.

   229

 */

   230

int ec_cdev_ioctl_slave_sync(

   231

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

   232

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

   233

        )

   234

{

   235

    ec_ioctl_slave_sync_t data;

   236

    const ec_slave_t *slave;

   237

    const ec_sync_t *sync;

   238

   239

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

   240

        return -EFAULT;

   241

    }

   242

   243

    if (down_interruptible(&master->master_sem))

   244

        return -EINTR;

   245

   246

    if (!(slave = ec_master_find_slave_const(

   247

                    master, 0, data.slave_position))) {

   248

        up(&master->master_sem);

   249

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

   250

        return -EINVAL;

   251

    }

   252

   253

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

   254

        up(&master->master_sem);

   255

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

   256

                data.sync_index, data.slave_position);

   257

        return -EINVAL;

   258

    }

   259

   260

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

   261

   262

    data.physical_start_address = sync->physical_start_address;

   263

    data.default_size = sync->default_length;

   264

    data.control_register = sync->control_register;

   265

    data.enable = sync->enable;

   266

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

   267

   268

    up(&master->master_sem);

   269

   270

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

   271

        return -EFAULT;

   272

   273

    return 0;

   274

}

   275

   276

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

   277

   278

/** Get slave sync manager Pdo information.

   279

 */

   280

int ec_cdev_ioctl_slave_sync_pdo(

   281

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

   282

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

   283

        )

   284

{

   285

    ec_ioctl_slave_sync_pdo_t data;

   286

    const ec_slave_t *slave;

   287

    const ec_sync_t *sync;

   288

    const ec_pdo_t *pdo;

   289

   290

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

   291

        return -EFAULT;

   292

    }

   293

   294

    if (down_interruptible(&master->master_sem))

   295

        return -EINTR;

   296

   297

    if (!(slave = ec_master_find_slave_const(

   298

                    master, 0, data.slave_position))) {

   299

        up(&master->master_sem);

   300

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

   301

        return -EINVAL;

   302

    }

   303

   304

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

   305

        up(&master->master_sem);

   306

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

   307

                data.sync_index, data.slave_position);

   308

        return -EINVAL;

   309

    }

   310

   311

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

   312

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   313

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

   314

        up(&master->master_sem);

   315

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

   316

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

   317

                data.pdo_pos, data.slave_position);

   318

        return -EINVAL;

   319

    }

   320

   321

    data.index = pdo->index;

   322

    data.entry_count = ec_pdo_entry_count(pdo);

   323

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

   324

   325

    up(&master->master_sem);

   326

   327

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

   328

        return -EFAULT;

   329

   330

    return 0;

   331

}

   332

   333

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

   334

   335

/** Get slave sync manager Pdo entry information.

   336

 */

   337

int ec_cdev_ioctl_slave_sync_pdo_entry(

   338

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

   339

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

   340

        )

   341

{

   342

    ec_ioctl_slave_sync_pdo_entry_t data;

   343

    const ec_slave_t *slave;

   344

    const ec_sync_t *sync;

   345

    const ec_pdo_t *pdo;

   346

    const ec_pdo_entry_t *entry;

   347

   348

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

   349

        return -EFAULT;

   350

    }

   351

   352

    if (down_interruptible(&master->master_sem))

   353

        return -EINTR;

   354

   355

    if (!(slave = ec_master_find_slave_const(

   356

                    master, 0, data.slave_position))) {

   357

        up(&master->master_sem);

   358

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

   359

        return -EINVAL;

   360

    }

   361

   362

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

   363

        up(&master->master_sem);

   364

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

   365

                data.sync_index, data.slave_position);

   366

        return -EINVAL;

   367

    }

   368

   369

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

   370

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   371

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

   372

        up(&master->master_sem);

   373

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

   374

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

   375

                data.pdo_pos, data.slave_position);

   376

        return -EINVAL;

   377

    }

   378

   379

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   380

                    pdo, data.entry_pos))) {

   381

        up(&master->master_sem);

   382

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

   383

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

   384

                data.entry_pos, data.slave_position);

   385

        return -EINVAL;

   386

    }

   387

   388

    data.index = entry->index;

   389

    data.subindex = entry->subindex;

   390

    data.bit_length = entry->bit_length;

   391

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

   392

   393

    up(&master->master_sem);

   394

   395

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

   396

        return -EFAULT;

   397

   398

    return 0;

   399

}

   400

   401

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

   402

   403

/** Get domain information.

   404

 */

   405

int ec_cdev_ioctl_domain(

   406

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

   407

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

   408

        )

   409

{

   410

    ec_ioctl_domain_t data;

   411

    const ec_domain_t *domain;

   412

   413

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

   414

        return -EFAULT;

   415

    }

   416

   417

    if (down_interruptible(&master->master_sem))

   418

        return -EINTR;

   419

   420

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

   421

        up(&master->master_sem);

   422

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

   423

        return -EINVAL;

   424

    }

   425

   426

    data.data_size = domain->data_size;

   427

    data.logical_base_address = domain->logical_base_address;

   428

    data.working_counter = domain->working_counter;

   429

    data.expected_working_counter = domain->expected_working_counter;

   430

    data.fmmu_count = ec_domain_fmmu_count(domain);

   431

   432

    up(&master->master_sem);

   433

   434

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

   435

        return -EFAULT;

   436

   437

    return 0;

   438

}

   439

   440

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

   441

   442

/** Get domain FMMU information.

   443

 */

   444

int ec_cdev_ioctl_domain_fmmu(

   445

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

   446

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

   447

        )

   448

{

   449

    ec_ioctl_domain_fmmu_t data;

   450

    const ec_domain_t *domain;

   451

    const ec_fmmu_config_t *fmmu;

   452

   453

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

   454

        return -EFAULT;

   455

    }

   456

   457

    if (down_interruptible(&master->master_sem))

   458

        return -EINTR;

   459

   460

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

   461

        up(&master->master_sem);

   462

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

   463

        return -EINVAL;

   464

    }

   465

   466

    if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {

   467

        up(&master->master_sem);

   468

        EC_ERR("Domain %u has less than %u fmmu configurations.\n",

   469

                data.domain_index, data.fmmu_index + 1);

   470

        return -EINVAL;

   471

    }

   472

   473

    data.slave_config_alias = fmmu->sc->alias;

   474

    data.slave_config_position = fmmu->sc->position;

   475

    data.sync_index = fmmu->sync_index;

   476

    data.dir = fmmu->dir;

   477

    data.logical_address = fmmu->logical_start_address;

   478

    data.data_size = fmmu->data_size;

   479

   480

    up(&master->master_sem);

   481

   482

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

   483

        return -EFAULT;

   484

   485

    return 0;

   486

}

   487

   488

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

   489

   490

/** Get domain data.

   491

 */

   492

int ec_cdev_ioctl_domain_data(

   493

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

   494

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

   495

        )

   496

{

   497

    ec_ioctl_domain_data_t data;

   498

    const ec_domain_t *domain;

   499

   500