etherlabmaster: comparison master/cdev.c

equal deleted inserted replaced

-:326d47aa986c
+:1baac79a40cf
 if (down_interruptible(&master->master_sem))
 return -EINTR;
 data.slave_count = master->slave_count;
 data.config_count = ec_master_config_count(master);
 data.domain_count = ec_master_domain_count(master);
+#ifdef EC_EOE
 data.eoe_handler_count = ec_master_eoe_handler_count(master);
+#endif
 data.phase = (uint8_t) master->phase;
+data.active = (uint8_t) master->active;
 data.scan_busy = master->scan_busy;
 up(&master->master_sem);
 if (down_interruptible(&master->device_sem))
 return -EINTR;
 data.position = sc->position;
 data.vendor_id = sc->vendor_id;
 data.product_code = sc->product_code;
 for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
 data.syncs[i].dir = sc->sync_configs[i].dir;
+data.syncs[i].watchdog_mode = sc->sync_configs[i].watchdog_mode;
 data.syncs[i].pdo_count =
 ec_pdo_list_count(&sc->sync_configs[i].pdos);
 }
+data.watchdog_divider = sc->watchdog_divider;
+data.watchdog_intervals = sc->watchdog_intervals;
 data.sdo_count = ec_slave_config_sdo_count(sc);
 data.slave_position = sc->slave ? sc->slave->ring_position : -1;
 data.dc_assign_activate = sc->dc_assign_activate;
 for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
 data.dc_sync[i] = sc->dc_sync[i];
 }
 data.index = req->index;
 data.subindex = req->subindex;
 data.size = req->data_size;
-memcpy(&data.data, req->data, min((u32) data.size, (u32) 4));
+memcpy(&data.data, req->data,
+min((u32) data.size, (u32) EC_MAX_SDO_DATA_SIZE));
 up(&master->master_sem);
 if (copy_to_user((void __user *) arg, &data, sizeof(data)))
 return -EFAULT;
 return 0;
 }
 /*****************************************************************************/
+#ifdef EC_EOE
 /** Get EoE handler information.
 */
 int ec_cdev_ioctl_eoe_handler(
 ec_master_t *master, /**< EtherCAT master. */
 return -EFAULT;
 return 0;
 }
+#endif
 /*****************************************************************************/
 /** Request the master from userspace.
 */
 int ec_cdev_ioctl_request(
 offset += ecrt_domain_size(domain);
 }
 }
 ecrt_master_callbacks(master, ec_master_internal_send_cb,
-ec_master_internal_receive_cb);
+ec_master_internal_receive_cb, master);
 ret = ecrt_master_activate(master);
 if (ret < 0)
 return ret;
 return 0;
 }
 /*****************************************************************************/
+/** Deactivates the master.
+*/
+int ec_cdev_ioctl_deactivate(
+ec_master_t *master, /**< EtherCAT master. */
+unsigned long arg, /**< ioctl() argument. */
+ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+)
+{
+if (unlikely(!priv->requested))
+return -EPERM;
+ecrt_master_deactivate(master);
+return 0;
+}
+/*****************************************************************************/
 /** Send frames.
 */
 int ec_cdev_ioctl_send(
 ec_master_t *master, /**< EtherCAT master. */
 unsigned long arg, /**< ioctl() argument. */
 return -EPERM;
 down(&master->io_sem);
 ecrt_master_sync_slave_clocks(master);
 up(&master->io_sem);
+return 0;
+}
+/*****************************************************************************/
+/** Queue the sync monitoring datagram.
+*/
+int ec_cdev_ioctl_sync_mon_queue(
+ec_master_t *master, /**< EtherCAT master. */
+unsigned long arg, /**< ioctl() argument. */
+ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+)
+{
+if (unlikely(!priv->requested))
+return -EPERM;
+down(&master->io_sem);
+ecrt_master_sync_monitor_queue(master);
+up(&master->io_sem);
+return 0;
+}
+/*****************************************************************************/
+/** Processes the sync monitoring datagram.
+*/
+int ec_cdev_ioctl_sync_mon_process(
+ec_master_t *master, /**< EtherCAT master. */
+unsigned long arg, /**< ioctl() argument. */
+ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+)
+{
+uint32_t time_diff;
+if (unlikely(!priv->requested))
+return -EPERM;
+down(&master->io_sem);
+time_diff = ecrt_master_sync_monitor_process(master);
+up(&master->io_sem);
+if (copy_to_user((void __user *) arg, &time_diff, sizeof(time_diff)))
+return -EFAULT;
 return 0;
 }
 /*****************************************************************************/
 return -ENOENT;
 }
 up(&master->master_sem); // FIXME
-ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data,
+if (data.complete_access) {
-data.size);
+ret = ecrt_slave_config_complete_sdo(sc, data.index, sdo_data, data.size);
+} else {
+ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data,
+data.size);
+}
 kfree(sdo_data);
 return ret;
 }
 /*****************************************************************************/
 return ec_cdev_ioctl_config_pdo(master, arg);
 case EC_IOCTL_CONFIG_PDO_ENTRY:
 return ec_cdev_ioctl_config_pdo_entry(master, arg);
 case EC_IOCTL_CONFIG_SDO:
 return ec_cdev_ioctl_config_sdo(master, arg);
+#ifdef EC_EOE
 case EC_IOCTL_EOE_HANDLER:
 return ec_cdev_ioctl_eoe_handler(master, arg);
+#endif
 case EC_IOCTL_REQUEST:
 if (!(filp->f_mode & FMODE_WRITE))
 return -EPERM;
 return ec_cdev_ioctl_request(master, arg, priv);
 case EC_IOCTL_CREATE_DOMAIN:
 return ec_cdev_ioctl_create_slave_config(master, arg, priv);
 case EC_IOCTL_ACTIVATE:
 if (!(filp->f_mode & FMODE_WRITE))
 return -EPERM;
 return ec_cdev_ioctl_activate(master, arg, priv);
+case EC_IOCTL_DEACTIVATE:
+if (!(filp->f_mode & FMODE_WRITE))
+return -EPERM;
+return ec_cdev_ioctl_deactivate(master, arg, priv);
 case EC_IOCTL_SEND:
 if (!(filp->f_mode & FMODE_WRITE))
 return -EPERM;
 return ec_cdev_ioctl_send(master, arg, priv);
 case EC_IOCTL_RECEIVE:
 return ec_cdev_ioctl_sync_ref(master, arg, priv);
 case EC_IOCTL_SYNC_SLAVES:
 if (!(filp->f_mode & FMODE_WRITE))
 return -EPERM;
 return ec_cdev_ioctl_sync_slaves(master, arg, priv);
+case EC_IOCTL_SYNC_MON_QUEUE:
+if (!(filp->f_mode & FMODE_WRITE))
+return -EPERM;
+return ec_cdev_ioctl_sync_mon_queue(master, arg, priv);
+case EC_IOCTL_SYNC_MON_PROCESS:
+if (!(filp->f_mode & FMODE_WRITE))
+return -EPERM;
+return ec_cdev_ioctl_sync_mon_process(master, arg, priv);
 case EC_IOCTL_SC_SYNC:
 if (!(filp->f_mode & FMODE_WRITE))
 return -EPERM;
 return ec_cdev_ioctl_sc_sync(master, arg, priv);
 case EC_IOCTL_SC_WATCHDOG:

changeset 1580	1baac79a40cf
parent 1535	0c484ee12d89
child 1544	cfcaf46c5b3f
child 1582	7273aa7deb3d