etherlabmaster: comparison master/cdev.c

equal deleted inserted replaced

-:f4313f5aba88
+:3bdd7a747fae
 /******************************************************************************
 *
 *  $Id$
 *
-*  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
+*  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public License version 2, as
 #include "slave_config.h"
 #include "voe_handler.h"
 #include "ethernet.h"
 #include "ioctl.h"
-/** Set to 1 to enable ioctl() command debugging.
+/** Set to 1 to enable device operations debugging.
 */
-#define DEBUG_IOCTL 0
+#define DEBUG 0
-/** Set to 1 to enable ioctl() latency warnings.
-*
-* Requires CPU timestamp counter!
-*/
-#define DEBUG_LATENCY 0
 /*****************************************************************************/
 static int eccdev_open(struct inode *, struct file *);
 static int eccdev_release(struct inode *, struct file *);
 /** Private data structure for file handles.
 */
 typedef struct {
 ec_cdev_t *cdev; /**< Character device. */
-unsigned int requested; /**< Master wac requested via this file handle. */
+ec_ioctl_context_t ctx; /**< Context. */
-uint8_t *process_data; /**< Total process data area. */
-size_t process_data_size; /**< Size of the \a process_data. */
 } ec_cdev_priv_t;
 /*****************************************************************************/
 /** Constructor.
 /** Destructor.
 */
 void ec_cdev_clear(ec_cdev_t *cdev /**< EtherCAT XML device */)
 {
 cdev_del(&cdev->cdev);
-}
-/*****************************************************************************/
-/** Copies a string to an ioctl structure.
-*/
-void ec_cdev_strcpy(
-char *target, /**< Target. */
-const char *source /**< Source. */
-)
-{
-if (source) {
-strncpy(target, source, EC_IOCTL_STRING_SIZE);
-target[EC_IOCTL_STRING_SIZE - 1] = 0;
-} else {
-target[0] = 0;
-}
-}
-/*****************************************************************************/
-/** Get module information.
-*/
-int ec_cdev_ioctl_module(
-unsigned long arg /**< Userspace address to store the results. */
-)
-{
-ec_ioctl_module_t data;
-data.ioctl_version_magic = EC_IOCTL_VERSION_MAGIC;
-data.master_count = ec_master_count();
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get master information.
-*/
-int ec_cdev_ioctl_master(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< Userspace address to store the results. */
-)
-{
-ec_ioctl_master_t data;
-unsigned int i, j;
-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;
-for (i = 0; i < EC_NUM_DEVICES; i++) {
-ec_device_t *device = &master->devices[i];
-if (device->dev) {
-memcpy(data.devices[i].address,
-device->dev->dev_addr, ETH_ALEN);
-} else {
-memcpy(data.devices[i].address, master->macs[i], ETH_ALEN);
-}
-data.devices[i].attached = device->dev ? 1 : 0;
-data.devices[i].link_state = device->link_state ? 1 : 0;
-data.devices[i].tx_count = device->tx_count;
-data.devices[i].rx_count = device->rx_count;
-data.devices[i].tx_bytes = device->tx_bytes;
-data.devices[i].rx_bytes = device->rx_bytes;
-data.devices[i].tx_errors = device->tx_errors;
-for (j = 0; j < EC_RATE_COUNT; j++) {
-data.devices[i].tx_frame_rates[j] =
-device->tx_frame_rates[j];
-data.devices[i].rx_frame_rates[j] =
-device->rx_frame_rates[j];
-data.devices[i].tx_byte_rates[j] =
-device->tx_byte_rates[j];
-data.devices[i].rx_byte_rates[j] =
-device->rx_byte_rates[j];
-}
-}
-data.tx_count = master->device_stats.tx_count;
-data.rx_count = master->device_stats.rx_count;
-data.tx_bytes = master->device_stats.tx_bytes;
-data.rx_bytes = master->device_stats.rx_bytes;
-for (i = 0; i < EC_RATE_COUNT; i++) {
-data.tx_frame_rates[i] =
-master->device_stats.tx_frame_rates[i];
-data.rx_frame_rates[i] =
-master->device_stats.rx_frame_rates[i];
-data.tx_byte_rates[i] =
-master->device_stats.tx_byte_rates[i];
-data.rx_byte_rates[i] =
-master->device_stats.rx_byte_rates[i];
-data.loss_rates[i] =
-master->device_stats.loss_rates[i];
-}
-up(&master->device_sem);
-data.app_time = master->app_time;
-data.ref_clock =
-master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff;
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get slave information.
-*/
-int ec_cdev_ioctl_slave(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< Userspace address to store the results. */
-)
-{
-ec_ioctl_slave_t data;
-const ec_slave_t *slave;
-int i;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(slave = ec_master_find_slave_const(
-master, 0, data.position))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n", data.position);
-return -EINVAL;
-}
-data.device_index = slave->device_index;
-data.vendor_id = slave->sii.vendor_id;
-data.product_code = slave->sii.product_code;
-data.revision_number = slave->sii.revision_number;
-data.serial_number = slave->sii.serial_number;
-data.alias = slave->effective_alias;
-data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;
-data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;
-data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;
-data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;
-data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;
-data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;
-data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;
-data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;
-data.mailbox_protocols = slave->sii.mailbox_protocols;
-data.has_general_category = slave->sii.has_general;
-data.coe_details = slave->sii.coe_details;
-data.general_flags = slave->sii.general_flags;
-data.current_on_ebus = slave->sii.current_on_ebus;
-for (i = 0; i < EC_MAX_PORTS; i++) {
-data.ports[i].desc = slave->ports[i].desc;
-data.ports[i].link.link_up = slave->ports[i].link.link_up;
-data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed;
-data.ports[i].link.signal_detected =
-slave->ports[i].link.signal_detected;
-data.ports[i].receive_time = slave->ports[i].receive_time;
-if (slave->ports[i].next_slave) {
-data.ports[i].next_slave =
-slave->ports[i].next_slave->ring_position;
-} else {
-data.ports[i].next_slave = 0xffff;
-}
-data.ports[i].delay_to_next_dc = slave->ports[i].delay_to_next_dc;
-}
-data.fmmu_bit = slave->base_fmmu_bit_operation;
-data.dc_supported = slave->base_dc_supported;
-data.dc_range = slave->base_dc_range;
-data.has_dc_system_time = slave->has_dc_system_time;
-data.transmission_delay = slave->transmission_delay;
-data.al_state = slave->current_state;
-data.error_flag = slave->error_flag;
-data.sync_count = slave->sii.sync_count;
-data.sdo_count = ec_slave_sdo_count(slave);
-data.sii_nwords = slave->sii_nwords;
-ec_cdev_strcpy(data.group, slave->sii.group);
-ec_cdev_strcpy(data.image, slave->sii.image);
-ec_cdev_strcpy(data.order, slave->sii.order);
-ec_cdev_strcpy(data.name, slave->sii.name);
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get slave sync manager information.
-*/
-int ec_cdev_ioctl_slave_sync(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< Userspace address to store the results. */
-)
-{
-ec_ioctl_slave_sync_t data;
-const ec_slave_t *slave;
-const ec_sync_t *sync;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(slave = ec_master_find_slave_const(
-master, 0, data.slave_position))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n",
-data.slave_position);
-return -EINVAL;
-}
-if (data.sync_index >= slave->sii.sync_count) {
-up(&master->master_sem);
-EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
-data.sync_index);
-return -EINVAL;
-}
-sync = &slave->sii.syncs[data.sync_index];
-data.physical_start_address = sync->physical_start_address;
-data.default_size = sync->default_length;
-data.control_register = sync->control_register;
-data.enable = sync->enable;
-data.pdo_count = ec_pdo_list_count(&sync->pdos);
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get slave sync manager PDO information.
-*/
-int ec_cdev_ioctl_slave_sync_pdo(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< Userspace address to store the results. */
-)
-{
-ec_ioctl_slave_sync_pdo_t data;
-const ec_slave_t *slave;
-const ec_sync_t *sync;
-const ec_pdo_t *pdo;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(slave = ec_master_find_slave_const(
-master, 0, data.slave_position))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n",
-data.slave_position);
-return -EINVAL;
-}
-if (data.sync_index >= slave->sii.sync_count) {
-up(&master->master_sem);
-EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
-data.sync_index);
-return -EINVAL;
-}
-sync = &slave->sii.syncs[data.sync_index];
-if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
-&sync->pdos, data.pdo_pos))) {
-up(&master->master_sem);
-EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with "
-"position %u!\n", data.sync_index, data.pdo_pos);
-return -EINVAL;
-}
-data.index = pdo->index;
-data.entry_count = ec_pdo_entry_count(pdo);
-ec_cdev_strcpy(data.name, pdo->name);
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get slave sync manager PDO entry information.
-*/
-int ec_cdev_ioctl_slave_sync_pdo_entry(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< Userspace address to store the results. */
-)
-{
-ec_ioctl_slave_sync_pdo_entry_t data;
-const ec_slave_t *slave;
-const ec_sync_t *sync;
-const ec_pdo_t *pdo;
-const ec_pdo_entry_t *entry;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(slave = ec_master_find_slave_const(
-master, 0, data.slave_position))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n",
-data.slave_position);
-return -EINVAL;
-}
-if (data.sync_index >= slave->sii.sync_count) {
-up(&master->master_sem);
-EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
-data.sync_index);
-return -EINVAL;
-}
-sync = &slave->sii.syncs[data.sync_index];
-if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
-&sync->pdos, data.pdo_pos))) {
-up(&master->master_sem);
-EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with "
-"position %u!\n", data.sync_index, data.pdo_pos);
-return -EINVAL;
-}
-if (!(entry = ec_pdo_find_entry_by_pos_const(
-pdo, data.entry_pos))) {
-up(&master->master_sem);
-EC_SLAVE_ERR(slave, "PDO 0x%04X does not contain an entry with "
-"position %u!\n", data.pdo_pos, data.entry_pos);
-return -EINVAL;
-}
-data.index = entry->index;
-data.subindex = entry->subindex;
-data.bit_length = entry->bit_length;
-ec_cdev_strcpy(data.name, entry->name);
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get domain information.
-*/
-int ec_cdev_ioctl_domain(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< Userspace address to store the results. */
-)
-{
-ec_ioctl_domain_t data;
-const ec_domain_t *domain;
-unsigned int dev_idx;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(domain = ec_master_find_domain_const(master, data.index))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Domain %u does not exist!\n", data.index);
-return -EINVAL;
-}
-data.data_size = domain->data_size;
-data.logical_base_address = domain->logical_base_address;
-for (dev_idx = 0; dev_idx < EC_NUM_DEVICES; dev_idx++) {
-data.working_counter[dev_idx] = domain->working_counter[dev_idx];
-}
-data.expected_working_counter = domain->expected_working_counter;
-data.fmmu_count = ec_domain_fmmu_count(domain);
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get domain FMMU information.
-*/
-int ec_cdev_ioctl_domain_fmmu(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< Userspace address to store the results. */
-)
-{
-ec_ioctl_domain_fmmu_t data;
-const ec_domain_t *domain;
-const ec_fmmu_config_t *fmmu;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Domain %u does not exist!\n",
-data.domain_index);
-return -EINVAL;
-}
-if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Domain %u has less than %u"
-" fmmu configurations.\n",
-data.domain_index, data.fmmu_index + 1);
-return -EINVAL;
-}
-data.slave_config_alias = fmmu->sc->alias;
-data.slave_config_position = fmmu->sc->position;
-data.sync_index = fmmu->sync_index;
-data.dir = fmmu->dir;
-data.logical_address = fmmu->logical_start_address;
-data.data_size = fmmu->data_size;
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get domain data.
-*/
-int ec_cdev_ioctl_domain_data(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< Userspace address to store the results. */
-)
-{
-ec_ioctl_domain_data_t data;
-const ec_domain_t *domain;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Domain %u does not exist!\n",
-data.domain_index);
-return -EINVAL;
-}
-if (domain->data_size != data.data_size) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Data size mismatch %u/%zu!\n",
-data.data_size, domain->data_size);
-return -EFAULT;
-}
-if (copy_to_user((void __user *) data.target, domain->data,
-domain->data_size)) {
-up(&master->master_sem);
-return -EFAULT;
-}
-up(&master->master_sem);
-return 0;
-}
-/*****************************************************************************/
-/** Set master debug level.
-*/
-int ec_cdev_ioctl_master_debug(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-return ec_master_debug_level(master, (unsigned int) arg);
-}
-/*****************************************************************************/
-/** Issue a bus scan.
-*/
-int ec_cdev_ioctl_master_rescan(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-master->fsm.rescan_required = 1;
-return 0;
-}
-/*****************************************************************************/
-/** Set slave state.
-*/
-int ec_cdev_ioctl_slave_state(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_state_t data;
-ec_slave_t *slave;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(slave = ec_master_find_slave(
-master, 0, data.slave_position))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n",
-data.slave_position);
-return -EINVAL;
-}
-ec_slave_request_state(slave, data.al_state);
-up(&master->master_sem);
-return 0;
-}
-/*****************************************************************************/
-/** Get slave SDO information.
-*/
-int ec_cdev_ioctl_slave_sdo(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_sdo_t data;
-const ec_slave_t *slave;
-const ec_sdo_t *sdo;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(slave = ec_master_find_slave_const(
-master, 0, data.slave_position))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n",
-data.slave_position);
-return -EINVAL;
-}
-if (!(sdo = ec_slave_get_sdo_by_pos_const(
-slave, data.sdo_position))) {
-up(&master->master_sem);
-EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", data.sdo_position);
-return -EINVAL;
-}
-data.sdo_index = sdo->index;
-data.max_subindex = sdo->max_subindex;
-ec_cdev_strcpy(data.name, sdo->name);
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get slave SDO entry information.
-*/
-int ec_cdev_ioctl_slave_sdo_entry(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_sdo_entry_t data;
-const ec_slave_t *slave;
-const ec_sdo_t *sdo;
-const ec_sdo_entry_t *entry;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(slave = ec_master_find_slave_const(
-master, 0, data.slave_position))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n",
-data.slave_position);
-return -EINVAL;
-}
-if (data.sdo_spec <= 0) {
-if (!(sdo = ec_slave_get_sdo_by_pos_const(
-slave, -data.sdo_spec))) {
-up(&master->master_sem);
-EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", -data.sdo_spec);
-return -EINVAL;
-}
-} else {
-if (!(sdo = ec_slave_get_sdo_const(
-slave, data.sdo_spec))) {
-up(&master->master_sem);
-EC_SLAVE_ERR(slave, "SDO 0x%04X does not exist!\n",
-data.sdo_spec);
-return -EINVAL;
-}
-}
-if (!(entry = ec_sdo_get_entry_const(
-sdo, data.sdo_entry_subindex))) {
-up(&master->master_sem);
-EC_SLAVE_ERR(slave, "SDO entry 0x%04X:%02X does not exist!\n",
-sdo->index, data.sdo_entry_subindex);
-return -EINVAL;
-}
-data.data_type = entry->data_type;
-data.bit_length = entry->bit_length;
-data.read_access[EC_SDO_ENTRY_ACCESS_PREOP] =
-entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP];
-data.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
-entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
-data.read_access[EC_SDO_ENTRY_ACCESS_OP] =
-entry->read_access[EC_SDO_ENTRY_ACCESS_OP];
-data.write_access[EC_SDO_ENTRY_ACCESS_PREOP] =
-entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP];
-data.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
-entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
-data.write_access[EC_SDO_ENTRY_ACCESS_OP] =
-entry->write_access[EC_SDO_ENTRY_ACCESS_OP];
-ec_cdev_strcpy(data.description, entry->description);
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Upload SDO.
-*/
-int ec_cdev_ioctl_slave_sdo_upload(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_sdo_upload_t data;
-uint8_t *target;
-int ret;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (!(target = kmalloc(data.target_size, GFP_KERNEL))) {
-EC_MASTER_ERR(master, "Failed to allocate %u bytes"
-" for SDO upload.\n", data.target_size);
-return -ENOMEM;
-}
-ret = ecrt_master_sdo_upload(master, data.slave_position,
-data.sdo_index, data.sdo_entry_subindex, target,
-data.target_size, &data.data_size, &data.abort_code);
-if (!ret) {
-if (copy_to_user((void __user *) data.target,
-target, data.data_size)) {
-kfree(target);
-return -EFAULT;
-}
-}
-kfree(target);
-if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
-return -EFAULT;
-}
-return 0;
-}
-/*****************************************************************************/
-/** Download SDO.
-*/
-int ec_cdev_ioctl_slave_sdo_download(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_sdo_download_t data;
-uint8_t *sdo_data;
-int retval;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (!(sdo_data = kmalloc(data.data_size, GFP_KERNEL))) {
-EC_MASTER_ERR(master, "Failed to allocate %u bytes"
-" for SDO download.\n", data.data_size);
-return -ENOMEM;
-}
-if (copy_from_user(sdo_data, (void __user *) data.data, data.data_size)) {
-kfree(sdo_data);
-return -EFAULT;
-}
-if (data.complete_access) {
-retval = ecrt_master_sdo_download_complete(master, data.slave_position,
-data.sdo_index, sdo_data, data.data_size, &data.abort_code);
-} else {
-retval = ecrt_master_sdo_download(master, data.slave_position,
-data.sdo_index, data.sdo_entry_subindex, sdo_data,
-data.data_size, &data.abort_code);
-}
-kfree(sdo_data);
-if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
-retval = -EFAULT;
-}
-return retval;
-}
-/*****************************************************************************/
-/** Read a slave's SII.
-*/
-int ec_cdev_ioctl_slave_sii_read(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_sii_t data;
-const ec_slave_t *slave;
-int retval;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(slave = ec_master_find_slave_const(
-master, 0, data.slave_position))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n",
-data.slave_position);
-return -EINVAL;
-}
-if (!data.nwords
-|| data.offset + data.nwords > slave->sii_nwords) {
-up(&master->master_sem);
-EC_SLAVE_ERR(slave, "Invalid SII read offset/size %u/%u for slave SII"
-" size %zu!\n", data.offset, data.nwords, slave->sii_nwords);
-return -EINVAL;
-}
-if (copy_to_user((void __user *) data.words,
-slave->sii_words + data.offset, data.nwords * 2))
-retval = -EFAULT;
-else
-retval = 0;
-up(&master->master_sem);
-return retval;
-}
-/*****************************************************************************/
-/** Write a slave's SII.
-*/
-int ec_cdev_ioctl_slave_sii_write(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_sii_t data;
-ec_slave_t *slave;
-unsigned int byte_size;
-uint16_t *words;
-ec_sii_write_request_t request;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (!data.nwords)
-return 0;
-byte_size = sizeof(uint16_t) * data.nwords;
-if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
-EC_MASTER_ERR(master, "Failed to allocate %u bytes"
-" for SII contents.\n", byte_size);
-return -ENOMEM;
-}
-if (copy_from_user(words,
-(void __user *) data.words, byte_size)) {
-kfree(words);
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(slave = ec_master_find_slave(
-master, 0, data.slave_position))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n",
-data.slave_position);
-kfree(words);
-return -EINVAL;
-}
-// init SII write request
-INIT_LIST_HEAD(&request.list);
-request.slave = slave;
-request.words = words;
-request.offset = data.offset;
-request.nwords = data.nwords;
-request.state = EC_INT_REQUEST_QUEUED;
-// schedule SII write request.
-list_add_tail(&request.list, &master->sii_requests);
-up(&master->master_sem);
-// wait for processing through FSM
-if (wait_event_interruptible(master->sii_queue,
-request.state != EC_INT_REQUEST_QUEUED)) {
-// interrupted by signal
-down(&master->master_sem);
-if (request.state == EC_INT_REQUEST_QUEUED) {
-// abort request
-list_del(&request.list);
-up(&master->master_sem);
-kfree(words);
-return -EINTR;
-}
-up(&master->master_sem);
-}
-// wait until master FSM has finished processing
-wait_event(master->sii_queue, request.state != EC_INT_REQUEST_BUSY);
-kfree(words);
-return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
-}
-/*****************************************************************************/
-/** Read a slave's registers.
-*/
-int ec_cdev_ioctl_slave_reg_read(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_reg_t data;
-ec_slave_t *slave;
-uint8_t *contents;
-ec_reg_request_t request;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (!data.length)
-return 0;
-if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
-EC_MASTER_ERR(master, "Failed to allocate %u bytes"
-" for register data.\n", data.length);
-return -ENOMEM;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(slave = ec_master_find_slave(
-master, 0, data.slave_position))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n",
-data.slave_position);
-return -EINVAL;
-}
-// init register request
-INIT_LIST_HEAD(&request.list);
-request.slave = slave;
-request.dir = EC_DIR_INPUT;
-request.data = contents;
-request.offset = data.offset;
-request.length = data.length;
-request.state = EC_INT_REQUEST_QUEUED;
-// schedule request.
-list_add_tail(&request.list, &master->reg_requests);
-up(&master->master_sem);
-// wait for processing through FSM
-if (wait_event_interruptible(master->reg_queue,
-request.state != EC_INT_REQUEST_QUEUED)) {
-// interrupted by signal
-down(&master->master_sem);
-if (request.state == EC_INT_REQUEST_QUEUED) {
-// abort request
-list_del(&request.list);
-up(&master->master_sem);
-kfree(contents);
-return -EINTR;
-}
-up(&master->master_sem);
-}
-// wait until master FSM has finished processing
-wait_event(master->reg_queue, request.state != EC_INT_REQUEST_BUSY);
-if (request.state == EC_INT_REQUEST_SUCCESS) {
-if (copy_to_user((void __user *) data.data, contents, data.length))
-return -EFAULT;
-}
-kfree(contents);
-return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
-}
-/*****************************************************************************/
-/** Write a slave's registers.
-*/
-int ec_cdev_ioctl_slave_reg_write(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_reg_t data;
-ec_slave_t *slave;
-uint8_t *contents;
-ec_reg_request_t request;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (!data.length)
-return 0;
-if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
-EC_MASTER_ERR(master, "Failed to allocate %u bytes"
-" for register data.\n", data.length);
-return -ENOMEM;
-}
-if (copy_from_user(contents, (void __user *) data.data, data.length)) {
-kfree(contents);
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(slave = ec_master_find_slave(
-master, 0, data.slave_position))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n",
-data.slave_position);
-kfree(contents);
-return -EINVAL;
-}
-// init register request
-INIT_LIST_HEAD(&request.list);
-request.slave = slave;
-request.dir = EC_DIR_OUTPUT;
-request.data = contents;
-request.offset = data.offset;
-request.length = data.length;
-request.state = EC_INT_REQUEST_QUEUED;
-// schedule request.
-list_add_tail(&request.list, &master->reg_requests);
-up(&master->master_sem);
-// wait for processing through FSM
-if (wait_event_interruptible(master->reg_queue,
-request.state != EC_INT_REQUEST_QUEUED)) {
-// interrupted by signal
-down(&master->master_sem);
-if (request.state == EC_INT_REQUEST_QUEUED) {
-// abort request
-list_del(&request.list);
-up(&master->master_sem);
-kfree(contents);
-return -EINTR;
-}
-up(&master->master_sem);
-}
-// wait until master FSM has finished processing
-wait_event(master->reg_queue, request.state != EC_INT_REQUEST_BUSY);
-kfree(contents);
-return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
-}
-/*****************************************************************************/
-/** Get slave configuration information.
-*/
-int ec_cdev_ioctl_config(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_config_t data;
-const ec_slave_config_t *sc;
-uint8_t i;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(sc = ec_master_get_config_const(
-master, data.config_index))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
-data.config_index);
-return -EINVAL;
-}
-data.alias = sc->alias;
-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.idn_count = ec_slave_config_idn_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];
-}
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get slave configuration PDO information.
-*/
-int ec_cdev_ioctl_config_pdo(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_config_pdo_t data;
-const ec_slave_config_t *sc;
-const ec_pdo_t *pdo;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
-EC_MASTER_ERR(master, "Invalid sync manager index %u!\n",
-data.sync_index);
-return -EINVAL;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(sc = ec_master_get_config_const(
-master, data.config_index))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
-data.config_index);
-return -EINVAL;
-}
-if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
-&sc->sync_configs[data.sync_index].pdos,
-data.pdo_pos))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Invalid PDO position!\n");
-return -EINVAL;
-}
-data.index = pdo->index;
-data.entry_count = ec_pdo_entry_count(pdo);
-ec_cdev_strcpy(data.name, pdo->name);
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get slave configuration PDO entry information.
-*/
-int ec_cdev_ioctl_config_pdo_entry(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_config_pdo_entry_t data;
-const ec_slave_config_t *sc;
-const ec_pdo_t *pdo;
-const ec_pdo_entry_t *entry;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
-EC_MASTER_ERR(master, "Invalid sync manager index %u!\n",
-data.sync_index);
-return -EINVAL;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(sc = ec_master_get_config_const(
-master, data.config_index))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
-data.config_index);
-return -EINVAL;
-}
-if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
-&sc->sync_configs[data.sync_index].pdos,
-data.pdo_pos))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Invalid PDO position!\n");
-return -EINVAL;
-}
-if (!(entry = ec_pdo_find_entry_by_pos_const(
-pdo, data.entry_pos))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Entry not found!\n");
-return -EINVAL;
-}
-data.index = entry->index;
-data.subindex = entry->subindex;
-data.bit_length = entry->bit_length;
-ec_cdev_strcpy(data.name, entry->name);
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get slave configuration SDO information.
-*/
-int ec_cdev_ioctl_config_sdo(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_config_sdo_t *ioctl;
-const ec_slave_config_t *sc;
-const ec_sdo_request_t *req;
-if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) {
-return -ENOMEM;
-}
-if (copy_from_user(ioctl, (void __user *) arg, sizeof(*ioctl))) {
-kfree(ioctl);
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem)) {
-kfree(ioctl);
-return -EINTR;
-}
-if (!(sc = ec_master_get_config_const(
-master, ioctl->config_index))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
-ioctl->config_index);
-kfree(ioctl);
-return -EINVAL;
-}
-if (!(req = ec_slave_config_get_sdo_by_pos_const(
-sc, ioctl->sdo_pos))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Invalid SDO position!\n");
-kfree(ioctl);
-return -EINVAL;
-}
-ioctl->index = req->index;
-ioctl->subindex = req->subindex;
-ioctl->size = req->data_size;
-memcpy(ioctl->data, req->data,
-min((u32) ioctl->size, (u32) EC_MAX_SDO_DATA_SIZE));
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, ioctl, sizeof(*ioctl))) {
-kfree(ioctl);
-return -EFAULT;
-}
-kfree(ioctl);
-return 0;
-}
-/*****************************************************************************/
-/** Get slave configuration IDN information.
-*/
-int ec_cdev_ioctl_config_idn(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_config_idn_t *ioctl;
-const ec_slave_config_t *sc;
-const ec_soe_request_t *req;
-if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) {
-return -ENOMEM;
-}
-if (copy_from_user(ioctl, (void __user *) arg, sizeof(*ioctl))) {
-kfree(ioctl);
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem)) {
-kfree(ioctl);
-return -EINTR;
-}
-if (!(sc = ec_master_get_config_const(
-master, ioctl->config_index))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
-ioctl->config_index);
-kfree(ioctl);
-return -EINVAL;
-}
-if (!(req = ec_slave_config_get_idn_by_pos_const(
-sc, ioctl->idn_pos))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Invalid IDN position!\n");
-kfree(ioctl);
-return -EINVAL;
-}
-ioctl->drive_no = req->drive_no;
-ioctl->idn = req->idn;
-ioctl->state = req->state;
-ioctl->size = req->data_size;
-memcpy(ioctl->data, req->data,
-min((u32) ioctl->size, (u32) EC_MAX_IDN_DATA_SIZE));
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, ioctl, sizeof(*ioctl))) {
-kfree(ioctl);
-return -EFAULT;
-}
-kfree(ioctl);
-return 0;
-}
-/*****************************************************************************/
-#ifdef EC_EOE
-/** Get EoE handler information.
-*/
-int ec_cdev_ioctl_eoe_handler(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_eoe_handler_t data;
-const ec_eoe_t *eoe;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(eoe = ec_master_get_eoe_handler_const(master, data.eoe_index))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "EoE handler %u does not exist!\n",
-data.eoe_index);
-return -EINVAL;
-}
-if (eoe->slave) {
-data.slave_position = eoe->slave->ring_position;
-} else {
-data.slave_position = 0xffff;
-}
-snprintf(data.name, EC_DATAGRAM_NAME_SIZE, eoe->dev->name);
-data.open = eoe->opened;
-data.rx_bytes = eoe->stats.tx_bytes;
-data.rx_rate = eoe->tx_rate;
-data.tx_bytes = eoe->stats.rx_bytes;
-data.tx_rate = eoe->tx_rate;
-data.tx_queued_frames = eoe->tx_queued_frames;
-data.tx_queue_size = eoe->tx_queue_size;
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-#endif
-/*****************************************************************************/
-/** Request the master from userspace.
-*/
-int ec_cdev_ioctl_request(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_master_t *m;
-int ret = 0;
-m = ecrt_request_master_err(master->index);
-if (IS_ERR(m)) {
-ret = PTR_ERR(m);
-} else {
-priv->requested = 1;
-}
-return ret;
-}
-/*****************************************************************************/
-/** Create a domain.
-*/
-int ec_cdev_ioctl_create_domain(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_domain_t *domain;
-if (unlikely(!priv->requested))
-return -EPERM;
-domain = ecrt_master_create_domain_err(master);
-if (IS_ERR(domain))
-return PTR_ERR(domain);
-return domain->index;
-}
-/*****************************************************************************/
-/** Create a slave configuration.
-*/
-int ec_cdev_ioctl_create_slave_config(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_config_t data;
-ec_slave_config_t *sc, *entry;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-sc = ecrt_master_slave_config_err(master, data.alias, data.position,
-data.vendor_id, data.product_code);
-if (IS_ERR(sc))
-return PTR_ERR(sc);
-data.config_index = 0;
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-list_for_each_entry(entry, &master->configs, list) {
-if (entry == sc)
-break;
-data.config_index++;
-}
-up(&master->master_sem);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Activates the master.
-*/
-int ec_cdev_ioctl_activate(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_domain_t *domain;
-off_t offset;
-int ret;
-if (unlikely(!priv->requested))
-return -EPERM;
-/* Get the sum of the domains' process data sizes. */
-priv->process_data_size = 0;
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-list_for_each_entry(domain, &master->domains, list) {
-priv->process_data_size += ecrt_domain_size(domain);
-}
-up(&master->master_sem);
-if (priv->process_data_size) {
-priv->process_data = vmalloc(priv->process_data_size);
-if (!priv->process_data) {
-priv->process_data_size = 0;
-return -ENOMEM;
-}
-/* Set the memory as external process data memory for the domains. */
-offset = 0;
-list_for_each_entry(domain, &master->domains, list) {
-ecrt_domain_external_memory(domain, priv->process_data + offset);
-offset += ecrt_domain_size(domain);
-}
-}
-ecrt_master_callbacks(master, ec_master_internal_send_cb,
-ec_master_internal_receive_cb, master);
-ret = ecrt_master_activate(master);
-if (ret < 0)
-return ret;
-if (copy_to_user((void __user *) arg,
-&priv->process_data_size, sizeof(size_t)))
-return -EFAULT;
-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;
-}
-/*****************************************************************************/
-/** Set max. number of databytes in a cycle
-*/
-int ec_cdev_ioctl_set_send_interval(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-size_t send_interval;
-if (copy_from_user(&send_interval, (void __user *) arg,
-sizeof(send_interval))) {
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-ec_master_set_send_interval(master, send_interval);
-up(&master->master_sem);
-return 0;
-}
-/*****************************************************************************/
-/** Send frames.
-*/
-int ec_cdev_ioctl_send(
-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_send(master);
-up(&master->io_sem);
-return 0;
-}
-/*****************************************************************************/
-/** Receive frames.
-*/
-int ec_cdev_ioctl_receive(
-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_receive(master);
-up(&master->io_sem);
-return 0;
-}
-/*****************************************************************************/
-/** Get the master state.
-*/
-int ec_cdev_ioctl_master_state(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_master_state_t data;
-if (unlikely(!priv->requested))
-return -EPERM;
-ecrt_master_state(master, &data);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get the master state.
-*/
-int ec_cdev_ioctl_master_link_state(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_link_state_t ioctl;
-ec_master_link_state_t state;
-int ret;
-if (unlikely(!priv->requested)) {
-return -EPERM;
-}
-if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
-return -EFAULT;
-}
-ret = ecrt_master_link_state(master, ioctl.dev_idx, &state);
-if (ret < 0) {
-return ret;
-}
-if (copy_to_user((void __user *) ioctl.state, &state, sizeof(state))) {
-return -EFAULT;
-}
-return 0;
-}
-/*****************************************************************************/
-/** Get the master state.
-*/
-int ec_cdev_ioctl_app_time(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_app_time_t data;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-ecrt_master_application_time(master, data.app_time);
-return 0;
-}
-/*****************************************************************************/
-/** Sync the reference clock.
-*/
-int ec_cdev_ioctl_sync_ref(
-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_reference_clock(master);
-up(&master->io_sem);
-return 0;
-}
-/*****************************************************************************/
-/** Sync the slave clocks.
-*/
-int ec_cdev_ioctl_sync_slaves(
-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_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;
-}
-/*****************************************************************************/
-/** Reset configuration.
-*/
-int ec_cdev_ioctl_reset(
-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->master_sem);
-ecrt_master_reset(master);
-up(&master->master_sem);
-return 0;
-}
-/*****************************************************************************/
-/** Configure a sync manager.
-*/
-int ec_cdev_ioctl_sc_sync(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_config_t data;
-ec_slave_config_t *sc;
-unsigned int i;
-int ret = 0;
-if (unlikely(!priv->requested)) {
-ret = -EPERM;
-goto out_return;
-}
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-ret = -EFAULT;
-goto out_return;
-}
-if (down_interruptible(&master->master_sem)) {
-ret = -EINTR;
-goto out_return;
-}
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-ret = -ENOENT;
-goto out_up;
-}
-for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
-if (data.syncs[i].config_this) {
-if (ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir,
-data.syncs[i].watchdog_mode)) {
-ret = -EINVAL;
-goto out_up;
-}
-}
-}
-out_up:
-up(&master->master_sem);
-out_return:
-return ret;
-}
-/*****************************************************************************/
-/** Configure a slave's watchdogs.
-*/
-int ec_cdev_ioctl_sc_watchdog(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_config_t data;
-ec_slave_config_t *sc;
-int ret = 0;
-if (unlikely(!priv->requested)) {
-ret = -EPERM;
-goto out_return;
-}
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-ret = -EFAULT;
-goto out_return;
-}
-if (down_interruptible(&master->master_sem)) {
-ret = -EINTR;
-goto out_return;
-}
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-ret = -ENOENT;
-goto out_up;
-}
-ecrt_slave_config_watchdog(sc,
-data.watchdog_divider, data.watchdog_intervals);
-out_up:
-up(&master->master_sem);
-out_return:
-return ret;
-}
-/*****************************************************************************/
-/** Add a PDO to the assignment.
-*/
-int ec_cdev_ioctl_sc_add_pdo(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_config_pdo_t data;
-ec_slave_config_t *sc;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-up(&master->master_sem);
-return -ENOENT;
-}
-up(&master->master_sem); /** \fixme sc could be invalidated */
-return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index);
-}
-/*****************************************************************************/
-/** Clears the PDO assignment.
-*/
-int ec_cdev_ioctl_sc_clear_pdos(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_config_pdo_t data;
-ec_slave_config_t *sc;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-up(&master->master_sem);
-return -ENOENT;
-}
-up(&master->master_sem); /** \fixme sc could be invalidated */
-ecrt_slave_config_pdo_assign_clear(sc, data.sync_index);
-return 0;
-}
-/*****************************************************************************/
-/** Add an entry to a PDO's mapping.
-*/
-int ec_cdev_ioctl_sc_add_entry(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_add_pdo_entry_t data;
-ec_slave_config_t *sc;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-up(&master->master_sem);
-return -ENOENT;
-}
-up(&master->master_sem); /** \fixme sc could be invalidated */
-return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index,
-data.entry_index, data.entry_subindex, data.entry_bit_length);
-}
-/*****************************************************************************/
-/** Clears the mapping of a PDO.
-*/
-int ec_cdev_ioctl_sc_clear_entries(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_config_pdo_t data;
-ec_slave_config_t *sc;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-up(&master->master_sem);
-return -ENOENT;
-}
-up(&master->master_sem); /** \fixme sc could be invalidated */
-ecrt_slave_config_pdo_mapping_clear(sc, data.index);
-return 0;
-}
-/*****************************************************************************/
-/** Registers a PDO entry.
-*/
-int ec_cdev_ioctl_sc_reg_pdo_entry(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_reg_pdo_entry_t data;
-ec_slave_config_t *sc;
-ec_domain_t *domain;
-int ret;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-up(&master->master_sem);
-return -ENOENT;
-}
-if (!(domain = ec_master_find_domain(master, data.domain_index))) {
-up(&master->master_sem);
-return -ENOENT;
-}
-up(&master->master_sem); /** \fixme sc or domain could be invalidated */
-ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index,
-data.entry_subindex, domain, &data.bit_position);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return ret;
-}
-/*****************************************************************************/
-/** Sets the DC AssignActivate word and the sync signal times.
-*/
-int ec_cdev_ioctl_sc_dc(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_config_t data;
-ec_slave_config_t *sc;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-up(&master->master_sem);
-return -ENOENT;
-}
-ecrt_slave_config_dc(sc, data.dc_assign_activate,
-data.dc_sync[0].cycle_time,
-data.dc_sync[0].shift_time,
-data.dc_sync[1].cycle_time,
-data.dc_sync[1].shift_time);
-up(&master->master_sem);
-return 0;
-}
-/*****************************************************************************/
-/** Configures an SDO.
-*/
-int ec_cdev_ioctl_sc_sdo(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_sc_sdo_t data;
-ec_slave_config_t *sc;
-uint8_t *sdo_data = NULL;
-int ret;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-if (!data.size)
-return -EINVAL;
-if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) {
-return -ENOMEM;
-}
-if (copy_from_user(sdo_data, (void __user *) data.data, data.size)) {
-kfree(sdo_data);
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem)) {
-kfree(sdo_data);
-return -EINTR;
-}
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-up(&master->master_sem);
-kfree(sdo_data);
-return -ENOENT;
-}
-up(&master->master_sem); /** \fixme sc could be invalidated */
-if (data.complete_access) {
-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;
-}
-/*****************************************************************************/
-/** Create an SDO request.
-*/
-int ec_cdev_ioctl_sc_create_sdo_request(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_sdo_request_t data;
-ec_slave_config_t *sc;
-ec_sdo_request_t *req;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-data.request_index = 0;
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-sc = ec_master_get_config(master, data.config_index);
-if (!sc) {
-up(&master->master_sem);
-return -ENOENT;
-}
-list_for_each_entry(req, &sc->sdo_requests, list) {
-data.request_index++;
-}
-up(&master->master_sem); /** \fixme sc could be invalidated */
-req = ecrt_slave_config_create_sdo_request_err(sc, data.sdo_index,
-data.sdo_subindex, data.size);
-if (IS_ERR(req))
-return PTR_ERR(req);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Create a VoE handler.
-*/
-int ec_cdev_ioctl_sc_create_voe_handler(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_voe_t data;
-ec_slave_config_t *sc;
-ec_voe_handler_t *voe;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-data.voe_index = 0;
-if (down_interruptible(&master->master_sem))
-return -EINTR;
-sc = ec_master_get_config(master, data.config_index);
-if (!sc) {
-up(&master->master_sem);
-return -ENOENT;
-}
-list_for_each_entry(voe, &sc->voe_handlers, list) {
-data.voe_index++;
-}
-up(&master->master_sem); /** \fixme sc could be invalidated */
-voe = ecrt_slave_config_create_voe_handler_err(sc, data.size);
-if (IS_ERR(voe))
-return PTR_ERR(voe);
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Get the slave configuration's state.
-*/
-int ec_cdev_ioctl_sc_state(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_sc_state_t data;
-const ec_slave_config_t *sc;
-ec_slave_config_state_t state;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-/* no locking of master_sem needed, because sc will not be deleted in the
-* meantime. */
-if (!(sc = ec_master_get_config_const(master, data.config_index))) {
-return -ENOENT;
-}
-ecrt_slave_config_state(sc, &state);
-if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Configures an IDN.
-*/
-int ec_cdev_ioctl_sc_idn(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_sc_idn_t ioctl;
-ec_slave_config_t *sc;
-uint8_t *data = NULL;
-int ret;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl)))
-return -EFAULT;
-if (!ioctl.size)
-return -EINVAL;
-if (!(data = kmalloc(ioctl.size, GFP_KERNEL))) {
-return -ENOMEM;
-}
-if (copy_from_user(data, (void __user *) ioctl.data, ioctl.size)) {
-kfree(data);
-return -EFAULT;
-}
-if (down_interruptible(&master->master_sem)) {
-kfree(data);
-return -EINTR;
-}
-if (!(sc = ec_master_get_config(master, ioctl.config_index))) {
-up(&master->master_sem);
-kfree(data);
-return -ENOENT;
-}
-up(&master->master_sem); /** \fixme sc could be invalidated */
-ret = ecrt_slave_config_idn(
-sc, ioctl.drive_no, ioctl.idn, ioctl.al_state, data, ioctl.size);
-kfree(data);
-return ret;
-}
-/*****************************************************************************/
-/** Gets the domain's offset in the total process data.
-*/
-int ec_cdev_ioctl_domain_offset(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-int offset = 0;
-const ec_domain_t *domain;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (down_interruptible(&master->master_sem)) {
-return -EINTR;
-}
-list_for_each_entry(domain, &master->domains, list) {
-if (domain->index == arg) {
-up(&master->master_sem);
-return offset;
-}
-offset += ecrt_domain_size(domain);
-}
-up(&master->master_sem);
-return -ENOENT;
-}
-/*****************************************************************************/
-/** Process the domain.
-*/
-int ec_cdev_ioctl_domain_process(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_domain_t *domain;
-if (unlikely(!priv->requested))
-return -EPERM;
-/* no locking of master_sem needed, because domain will not be deleted in
-* the meantime. */
-if (!(domain = ec_master_find_domain(master, arg))) {
-return -ENOENT;
-}
-ecrt_domain_process(domain);
-return 0;
-}
-/*****************************************************************************/
-/** Queue the domain.
-*/
-int ec_cdev_ioctl_domain_queue(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_domain_t *domain;
-if (unlikely(!priv->requested))
-return -EPERM;
-/* no locking of master_sem needed, because domain will not be deleted in
-* the meantime. */
-if (!(domain = ec_master_find_domain(master, arg))) {
-return -ENOENT;
-}
-ecrt_domain_queue(domain);
-return 0;
-}
-/*****************************************************************************/
-/** Get the domain state.
-*/
-int ec_cdev_ioctl_domain_state(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_domain_state_t data;
-const ec_domain_t *domain;
-ec_domain_state_t state;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-/* no locking of master_sem needed, because domain will not be deleted in
-* the meantime. */
-if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
-return -ENOENT;
-}
-ecrt_domain_state(domain, &state);
-if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Sets an SDO request's timeout.
-*/
-int ec_cdev_ioctl_sdo_request_timeout(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_sdo_request_t data;
-ec_slave_config_t *sc;
-ec_sdo_request_t *req;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-/* no locking of master_sem needed, because neither sc nor req will not be
-* deleted in the meantime. */
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-return -ENOENT;
-}
-if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
-return -ENOENT;
-}
-ecrt_sdo_request_timeout(req, data.timeout);
-return 0;
-}
-/*****************************************************************************/
-/** Gets an SDO request's state.
-*/
-int ec_cdev_ioctl_sdo_request_state(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_sdo_request_t data;
-ec_slave_config_t *sc;
-ec_sdo_request_t *req;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-/* no locking of master_sem needed, because neither sc nor req will not be
-* deleted in the meantime. */
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-return -ENOENT;
-}
-if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
-return -ENOENT;
-}
-data.state = ecrt_sdo_request_state(req);
-if (data.state == EC_REQUEST_SUCCESS && req->dir == EC_DIR_INPUT)
-data.size = ecrt_sdo_request_data_size(req);
-else
-data.size = 0;
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Starts an SDO read operation.
-*/
-int ec_cdev_ioctl_sdo_request_read(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_sdo_request_t data;
-ec_slave_config_t *sc;
-ec_sdo_request_t *req;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-/* no locking of master_sem needed, because neither sc nor req will not be
-* deleted in the meantime. */
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-return -ENOENT;
-}
-if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
-return -ENOENT;
-}
-ecrt_sdo_request_read(req);
-return 0;
-}
-/*****************************************************************************/
-/** Starts an SDO write operation.
-*/
-int ec_cdev_ioctl_sdo_request_write(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_sdo_request_t data;
-ec_slave_config_t *sc;
-ec_sdo_request_t *req;
-int ret;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-if (!data.size) {
-EC_MASTER_ERR(master, "SDO download: Data size may not be zero!\n");
-return -EINVAL;
-}
-/* no locking of master_sem needed, because neither sc nor req will not be
-* deleted in the meantime. */
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-return -ENOENT;
-}
-if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
-return -ENOENT;
-}
-ret = ec_sdo_request_alloc(req, data.size);
-if (ret)
-return ret;
-if (copy_from_user(req->data, (void __user *) data.data, data.size))
-return -EFAULT;
-req->data_size = data.size;
-ecrt_sdo_request_write(req);
-return 0;
-}
-/*****************************************************************************/
-/** Read SDO data.
-*/
-int ec_cdev_ioctl_sdo_request_data(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_sdo_request_t data;
-ec_slave_config_t *sc;
-ec_sdo_request_t *req;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-/* no locking of master_sem needed, because neither sc nor req will not be
-* deleted in the meantime. */
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-return -ENOENT;
-}
-if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
-return -ENOENT;
-}
-if (copy_to_user((void __user *) data.data, ecrt_sdo_request_data(req),
-ecrt_sdo_request_data_size(req)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Sets the VoE send header.
-*/
-int ec_cdev_ioctl_voe_send_header(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_voe_t data;
-ec_slave_config_t *sc;
-ec_voe_handler_t *voe;
-uint32_t vendor_id;
-uint16_t vendor_type;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-if (get_user(vendor_id, data.vendor_id))
-return -EFAULT;
-if (get_user(vendor_type, data.vendor_type))
-return -EFAULT;
-/* no locking of master_sem needed, because neither sc nor voe will not be
-* deleted in the meantime. */
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-return -ENOENT;
-}
-if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
-return -ENOENT;
-}
-ecrt_voe_handler_send_header(voe, vendor_id, vendor_type);
-return 0;
-}
-/*****************************************************************************/
-/** Gets the received VoE header.
-*/
-int ec_cdev_ioctl_voe_rec_header(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_voe_t data;
-ec_slave_config_t *sc;
-ec_voe_handler_t *voe;
-uint32_t vendor_id;
-uint16_t vendor_type;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-/* no locking of master_sem needed, because neither sc nor voe will not be
-* deleted in the meantime. */
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-return -ENOENT;
-}
-if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
-return -ENOENT;
-}
-ecrt_voe_handler_received_header(voe, &vendor_id, &vendor_type);
-if (likely(data.vendor_id))
-if (put_user(vendor_id, data.vendor_id))
-return -EFAULT;
-if (likely(data.vendor_type))
-if (put_user(vendor_type, data.vendor_type))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Starts a VoE read operation.
-*/
-int ec_cdev_ioctl_voe_read(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_voe_t data;
-ec_slave_config_t *sc;
-ec_voe_handler_t *voe;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-/* no locking of master_sem needed, because neither sc nor voe will not be
-* deleted in the meantime. */
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-return -ENOENT;
-}
-if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
-return -ENOENT;
-}
-ecrt_voe_handler_read(voe);
-return 0;
-}
-/*****************************************************************************/
-/** Starts a VoE read operation without sending a sync message first.
-*/
-int ec_cdev_ioctl_voe_read_nosync(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_voe_t data;
-ec_slave_config_t *sc;
-ec_voe_handler_t *voe;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-/* no locking of master_sem needed, because neither sc nor voe will not be
-* deleted in the meantime. */
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-return -ENOENT;
-}
-if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
-return -ENOENT;
-}
-ecrt_voe_handler_read_nosync(voe);
-return 0;
-}
-/*****************************************************************************/
-/** Starts a VoE write operation.
-*/
-int ec_cdev_ioctl_voe_write(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_voe_t data;
-ec_slave_config_t *sc;
-ec_voe_handler_t *voe;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-/* no locking of master_sem needed, because neither sc nor voe will not be
-* deleted in the meantime. */
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-return -ENOENT;
-}
-if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
-return -ENOENT;
-}
-if (data.size) {
-if (data.size > ec_voe_handler_mem_size(voe))
-return -EOVERFLOW;
-if (copy_from_user(ecrt_voe_handler_data(voe),
-(void __user *) data.data, data.size))
-return -EFAULT;
-}
-ecrt_voe_handler_write(voe, data.size);
-return 0;
-}
-/*****************************************************************************/
-/** Executes the VoE state machine.
-*/
-int ec_cdev_ioctl_voe_exec(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_voe_t data;
-ec_slave_config_t *sc;
-ec_voe_handler_t *voe;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-/* no locking of master_sem needed, because neither sc nor voe will not be
-* deleted in the meantime. */
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-return -ENOENT;
-}
-if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
-return -ENOENT;
-}
-data.state = ecrt_voe_handler_execute(voe);
-if (data.state == EC_REQUEST_SUCCESS && voe->dir == EC_DIR_INPUT)
-data.size = ecrt_voe_handler_data_size(voe);
-else
-data.size = 0;
-if (copy_to_user((void __user *) arg, &data, sizeof(data)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Reads the received VoE data.
-*/
-int ec_cdev_ioctl_voe_data(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg, /**< ioctl() argument. */
-ec_cdev_priv_t *priv /**< Private data structure of file handle. */
-)
-{
-ec_ioctl_voe_t data;
-ec_slave_config_t *sc;
-ec_voe_handler_t *voe;
-if (unlikely(!priv->requested))
-return -EPERM;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
-return -EFAULT;
-/* no locking of master_sem needed, because neither sc nor voe will not be
-* deleted in the meantime. */
-if (!(sc = ec_master_get_config(master, data.config_index))) {
-return -ENOENT;
-}
-if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
-return -ENOENT;
-}
-if (copy_to_user((void __user *) data.data, ecrt_voe_handler_data(voe),
-ecrt_voe_handler_data_size(voe)))
-return -EFAULT;
-return 0;
-}
-/*****************************************************************************/
-/** Read a file from a slave via FoE.
-*/
-int ec_cdev_ioctl_slave_foe_read(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_foe_t data;
-ec_master_foe_request_t request;
-int retval;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-ec_foe_request_init(&request.req, data.file_name);
-ec_foe_request_read(&request.req);
-ec_foe_request_alloc(&request.req, 10000); // FIXME
-if (down_interruptible(&master->master_sem)) {
-ec_foe_request_clear(&request.req);
-return -EINTR;
-}
-if (!(request.slave = ec_master_find_slave(
-master, 0, data.slave_position))) {
-up(&master->master_sem);
-ec_foe_request_clear(&request.req);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n",
-data.slave_position);
-return -EINVAL;
-}
-// schedule request.
-list_add_tail(&request.list, &request.slave->foe_requests);
-up(&master->master_sem);
-EC_SLAVE_DBG(request.slave, 1, "Scheduled FoE read request.\n");
-// wait for processing through FSM
-if (wait_event_interruptible(request.slave->foe_queue,
-request.req.state != EC_INT_REQUEST_QUEUED)) {
-// interrupted by signal
-down(&master->master_sem);
-if (request.req.state == EC_INT_REQUEST_QUEUED) {
-list_del(&request.list);
-up(&master->master_sem);
-ec_foe_request_clear(&request.req);
-return -EINTR;
-}
-// request already processing: interrupt not possible.
-up(&master->master_sem);
-}
-// wait until master FSM has finished processing
-wait_event(request.slave->foe_queue,
-request.req.state != EC_INT_REQUEST_BUSY);
-data.result = request.req.result;
-data.error_code = request.req.error_code;
-EC_SLAVE_DBG(request.slave, 1, "Read %zd bytes via FoE"
-" (result = 0x%x).\n", request.req.data_size, request.req.result);
-if (request.req.state != EC_INT_REQUEST_SUCCESS) {
-data.data_size = 0;
-retval = -EIO;
-} else {
-if (request.req.data_size > data.buffer_size) {
-EC_MASTER_ERR(master, "Buffer too small.\n");
-ec_foe_request_clear(&request.req);
-return -EOVERFLOW;
-}
-data.data_size = request.req.data_size;
-if (copy_to_user((void __user *) data.buffer,
-request.req.buffer, data.data_size)) {
-ec_foe_request_clear(&request.req);
-return -EFAULT;
-}
-retval = 0;
-}
-if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
-retval = -EFAULT;
-}
-EC_SLAVE_DBG(request.slave, 1, "Finished FoE read request.\n");
-ec_foe_request_clear(&request.req);
-return retval;
-}
-/*****************************************************************************/
-/** Write a file to a slave via FoE
-*/
-int ec_cdev_ioctl_slave_foe_write(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_foe_t data;
-ec_master_foe_request_t request;
-int retval;
-if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
-return -EFAULT;
-}
-INIT_LIST_HEAD(&request.list);
-ec_foe_request_init(&request.req, data.file_name);
-if (ec_foe_request_alloc(&request.req, data.buffer_size)) {
-ec_foe_request_clear(&request.req);
-return -ENOMEM;
-}
-if (copy_from_user(request.req.buffer,
-(void __user *) data.buffer, data.buffer_size)) {
-ec_foe_request_clear(&request.req);
-return -EFAULT;
-}
-request.req.data_size = data.buffer_size;
-ec_foe_request_write(&request.req);
-if (down_interruptible(&master->master_sem)) {
-ec_foe_request_clear(&request.req);
-return -EINTR;
-}
-if (!(request.slave = ec_master_find_slave(
-master, 0, data.slave_position))) {
-up(&master->master_sem);
-EC_MASTER_ERR(master, "Slave %u does not exist!\n",
-data.slave_position);
-ec_foe_request_clear(&request.req);
-return -EINVAL;
-}
-EC_SLAVE_DBG(request.slave, 1, "Scheduling FoE write request.\n");
-// schedule FoE write request.
-list_add_tail(&request.list, &request.slave->foe_requests);
-up(&master->master_sem);
-// wait for processing through FSM
-if (wait_event_interruptible(request.slave->foe_queue,
-request.req.state != EC_INT_REQUEST_QUEUED)) {
-// interrupted by signal
-down(&master->master_sem);
-if (request.req.state == EC_INT_REQUEST_QUEUED) {
-// abort request
-list_del(&request.list);
-up(&master->master_sem);
-ec_foe_request_clear(&request.req);
-return -EINTR;
-}
-up(&master->master_sem);
-}
-// wait until master FSM has finished processing
-wait_event(request.slave->foe_queue,
-request.req.state != EC_INT_REQUEST_BUSY);
-data.result = request.req.result;
-data.error_code = request.req.error_code;
-retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
-if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
-retval = -EFAULT;
-}
-ec_foe_request_clear(&request.req);
-EC_SLAVE_DBG(request.slave, 1, "Finished FoE write request.\n");
-return retval;
-}
-/*****************************************************************************/
-/** Read an SoE IDN.
-*/
-int ec_cdev_ioctl_slave_soe_read(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_soe_read_t ioctl;
-u8 *data;
-int retval;
-if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
-return -EFAULT;
-}
-data = kmalloc(ioctl.mem_size, GFP_KERNEL);
-if (!data) {
-EC_MASTER_ERR(master, "Failed to allocate %u bytes of IDN data.\n",
-ioctl.mem_size);
-return -ENOMEM;
-}
-retval = ecrt_master_read_idn(master, ioctl.slave_position,
-ioctl.drive_no, ioctl.idn, data, ioctl.mem_size, &ioctl.data_size,
-&ioctl.error_code);
-if (retval) {
-kfree(data);
-return retval;
-}
-if (copy_to_user((void __user *) ioctl.data,
-data, ioctl.data_size)) {
-kfree(data);
-return -EFAULT;
-}
-kfree(data);
-if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
-retval = -EFAULT;
-}
-EC_MASTER_DBG(master, 1, "Finished SoE read request.\n");
-return retval;
-}
-/*****************************************************************************/
-/** Write an IDN to a slave via SoE.
-*/
-int ec_cdev_ioctl_slave_soe_write(
-ec_master_t *master, /**< EtherCAT master. */
-unsigned long arg /**< ioctl() argument. */
-)
-{
-ec_ioctl_slave_soe_write_t ioctl;
-u8 *data;
-int retval;
-if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
-return -EFAULT;
-}
-data = kmalloc(ioctl.data_size, GFP_KERNEL);
-if (!data) {
-EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n",
-ioctl.data_size);
-return -ENOMEM;
-}
-if (copy_from_user(data, (void __user *) ioctl.data, ioctl.data_size)) {
-kfree(data);
-return -EFAULT;
-}
-retval = ecrt_master_write_idn(master, ioctl.slave_position,
-ioctl.drive_no, ioctl.idn, data, ioctl.data_size,
-&ioctl.error_code);
-kfree(data);
-if (retval) {
-return retval;
-}
-if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
-retval = -EFAULT;
-}
-EC_MASTER_DBG(master, 1, "Finished SoE write request.\n");
-return retval;
 }
 /******************************************************************************
 * File operations
 *****************************************************************************/
 "Failed to allocate memory for private data structure.\n");
 return -ENOMEM;
 }
 priv->cdev = cdev;
-priv->requested = 0;
+priv->ctx.writable = (filp->f_mode & FMODE_WRITE) != 0;
-priv->process_data = NULL;
+priv->ctx.requested = 0;
-priv->process_data_size = 0;
+priv->ctx.process_data = NULL;
+priv->ctx.process_data_size = 0;
 filp->private_data = priv;
-#if DEBUG_IOCTL
+#if DEBUG
 EC_MASTER_DBG(cdev->master, 0, "File opened.\n");
 #endif
 return 0;
 }
 int eccdev_release(struct inode *inode, struct file *filp)
 {
 ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
 ec_master_t *master = priv->cdev->master;
-if (priv->requested)
+if (priv->ctx.requested) {
 ecrt_release_master(master);
+}
-if (priv->process_data)
-vfree(priv->process_data);
+if (priv->ctx.process_data) {
+vfree(priv->ctx.process_data);
-#if DEBUG_IOCTL
+}
+#if DEBUG
 EC_MASTER_DBG(master, 0, "File closed.\n");
 #endif
 kfree(priv);
 return 0;
 /** Called when an ioctl() command is issued.
 */
 long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
 {
-#if DEBUG_LATENCY
-cycles_t a = get_cycles(), b;
-unsigned int t;
-#endif
 ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
-ec_master_t *master = priv->cdev->master;
-int ret;
+#if DEBUG
+EC_MASTER_DBG(priv->cdev->master, 0,
-#if DEBUG_IOCTL
+"ioctl(filp = 0x%p, cmd = 0x%08x (0x%02x), arg = 0x%lx)\n",
-EC_MASTER_DBG(master, 0, "ioctl(filp = 0x%p, cmd = 0x%08x (0x%02x),"
+filp, cmd, _IOC_NR(cmd), arg);
-" arg = 0x%lx)\n", filp, cmd, _IOC_NR(cmd), arg);
+#endif
-#endif
+return ec_ioctl(priv->cdev->master, &priv->ctx, cmd, (void __user *) arg);
-switch (cmd) {
-case EC_IOCTL_MODULE:
-ret = ec_cdev_ioctl_module(arg);
-break;
-case EC_IOCTL_MASTER:
-ret = ec_cdev_ioctl_master(master, arg);
-break;
-case EC_IOCTL_SLAVE:
-ret = ec_cdev_ioctl_slave(master, arg);
-break;
-case EC_IOCTL_SLAVE_SYNC:
-ret = ec_cdev_ioctl_slave_sync(master, arg);
-break;
-case EC_IOCTL_SLAVE_SYNC_PDO:
-ret = ec_cdev_ioctl_slave_sync_pdo(master, arg);
-break;
-case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
-ret = ec_cdev_ioctl_slave_sync_pdo_entry(master, arg);
-break;
-case EC_IOCTL_DOMAIN:
-ret = ec_cdev_ioctl_domain(master, arg);
-break;
-case EC_IOCTL_DOMAIN_FMMU:
-ret = ec_cdev_ioctl_domain_fmmu(master, arg);
-break;
-case EC_IOCTL_DOMAIN_DATA:
-ret = ec_cdev_ioctl_domain_data(master, arg);
-break;
-case EC_IOCTL_MASTER_DEBUG:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_master_debug(master, arg);
-break;
-case EC_IOCTL_MASTER_RESCAN:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_master_rescan(master, arg);
-break;
-case EC_IOCTL_SLAVE_STATE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_slave_state(master, arg);
-break;
-case EC_IOCTL_SLAVE_SDO:
-ret = ec_cdev_ioctl_slave_sdo(master, arg);
-break;
-case EC_IOCTL_SLAVE_SDO_ENTRY:
-ret = ec_cdev_ioctl_slave_sdo_entry(master, arg);
-break;
-case EC_IOCTL_SLAVE_SDO_UPLOAD:
-ret = ec_cdev_ioctl_slave_sdo_upload(master, arg);
-break;
-case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_slave_sdo_download(master, arg);
-break;
-case EC_IOCTL_SLAVE_SII_READ:
-ret = ec_cdev_ioctl_slave_sii_read(master, arg);
-break;
-case EC_IOCTL_SLAVE_SII_WRITE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_slave_sii_write(master, arg);
-break;
-case EC_IOCTL_SLAVE_REG_READ:
-ret = ec_cdev_ioctl_slave_reg_read(master, arg);
-break;
-case EC_IOCTL_SLAVE_REG_WRITE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_slave_reg_write(master, arg);
-break;
-case EC_IOCTL_SLAVE_FOE_READ:
-ret = ec_cdev_ioctl_slave_foe_read(master, arg);
-break;
-case EC_IOCTL_SLAVE_FOE_WRITE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_slave_foe_write(master, arg);
-break;
-case EC_IOCTL_SLAVE_SOE_READ:
-ret = ec_cdev_ioctl_slave_soe_read(master, arg);
-break;
-case EC_IOCTL_SLAVE_SOE_WRITE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_slave_soe_write(master, arg);
-break;
-case EC_IOCTL_CONFIG:
-ret = ec_cdev_ioctl_config(master, arg);
-break;
-case EC_IOCTL_CONFIG_PDO:
-ret = ec_cdev_ioctl_config_pdo(master, arg);
-break;
-case EC_IOCTL_CONFIG_PDO_ENTRY:
-ret = ec_cdev_ioctl_config_pdo_entry(master, arg);
-break;
-case EC_IOCTL_CONFIG_SDO:
-ret = ec_cdev_ioctl_config_sdo(master, arg);
-break;
-case EC_IOCTL_CONFIG_IDN:
-ret = ec_cdev_ioctl_config_idn(master, arg);
-break;
-#ifdef EC_EOE
-case EC_IOCTL_EOE_HANDLER:
-ret = ec_cdev_ioctl_eoe_handler(master, arg);
-break;
-#endif
-case EC_IOCTL_REQUEST:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_request(master, arg, priv);
-break;
-case EC_IOCTL_CREATE_DOMAIN:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_create_domain(master, arg, priv);
-break;
-case EC_IOCTL_CREATE_SLAVE_CONFIG:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_create_slave_config(master, arg, priv);
-break;
-case EC_IOCTL_ACTIVATE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_activate(master, arg, priv);
-break;
-case EC_IOCTL_DEACTIVATE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_deactivate(master, arg, priv);
-break;
-case EC_IOCTL_SEND:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_send(master, arg, priv);
-break;
-case EC_IOCTL_RECEIVE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_receive(master, arg, priv);
-break;
-case EC_IOCTL_MASTER_STATE:
-ret = ec_cdev_ioctl_master_state(master, arg, priv);
-break;
-case EC_IOCTL_MASTER_LINK_STATE:
-ret = ec_cdev_ioctl_master_link_state(master, arg, priv);
-break;
-case EC_IOCTL_APP_TIME:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_app_time(master, arg, priv);
-break;
-case EC_IOCTL_SYNC_REF:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sync_ref(master, arg, priv);
-break;
-case EC_IOCTL_SYNC_SLAVES:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sync_slaves(master, arg, priv);
-break;
-case EC_IOCTL_SYNC_MON_QUEUE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sync_mon_queue(master, arg, priv);
-break;
-case EC_IOCTL_SYNC_MON_PROCESS:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sync_mon_process(master, arg, priv);
-break;
-case EC_IOCTL_RESET:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_reset(master, arg, priv);
-break;
-case EC_IOCTL_SC_SYNC:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sc_sync(master, arg, priv);
-break;
-case EC_IOCTL_SC_WATCHDOG:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sc_watchdog(master, arg, priv);
-break;
-case EC_IOCTL_SC_ADD_PDO:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sc_add_pdo(master, arg, priv);
-break;
-case EC_IOCTL_SC_CLEAR_PDOS:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sc_clear_pdos(master, arg, priv);
-break;
-case EC_IOCTL_SC_ADD_ENTRY:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sc_add_entry(master, arg, priv);
-break;
-case EC_IOCTL_SC_CLEAR_ENTRIES:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sc_clear_entries(master, arg, priv);
-break;
-case EC_IOCTL_SC_REG_PDO_ENTRY:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sc_reg_pdo_entry(master, arg, priv);
-break;
-case EC_IOCTL_SC_DC:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sc_dc(master, arg, priv);
-break;
-case EC_IOCTL_SC_SDO:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sc_sdo(master, arg, priv);
-break;
-case EC_IOCTL_SC_SDO_REQUEST:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sc_create_sdo_request(master, arg, priv);
-break;
-case EC_IOCTL_SC_VOE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sc_create_voe_handler(master, arg, priv);
-break;
-case EC_IOCTL_SC_STATE:
-ret = ec_cdev_ioctl_sc_state(master, arg, priv);
-break;
-case EC_IOCTL_SC_IDN:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sc_idn(master, arg, priv);
-break;
-case EC_IOCTL_DOMAIN_OFFSET:
-ret = ec_cdev_ioctl_domain_offset(master, arg, priv);
-break;
-case EC_IOCTL_DOMAIN_PROCESS:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_domain_process(master, arg, priv);
-break;
-case EC_IOCTL_DOMAIN_QUEUE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_domain_queue(master, arg, priv);
-break;
-case EC_IOCTL_DOMAIN_STATE:
-ret = ec_cdev_ioctl_domain_state(master, arg, priv);
-break;
-case EC_IOCTL_SDO_REQUEST_TIMEOUT:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sdo_request_timeout(master, arg, priv);
-break;
-case EC_IOCTL_SDO_REQUEST_STATE:
-ret = ec_cdev_ioctl_sdo_request_state(master, arg, priv);
-break;
-case EC_IOCTL_SDO_REQUEST_READ:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sdo_request_read(master, arg, priv);
-break;
-case EC_IOCTL_SDO_REQUEST_WRITE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_sdo_request_write(master, arg, priv);
-break;
-case EC_IOCTL_SDO_REQUEST_DATA:
-ret = ec_cdev_ioctl_sdo_request_data(master, arg, priv);
-break;
-case EC_IOCTL_VOE_SEND_HEADER:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_voe_send_header(master, arg, priv);
-break;
-case EC_IOCTL_VOE_REC_HEADER:
-ret = ec_cdev_ioctl_voe_rec_header(master, arg, priv);
-break;
-case EC_IOCTL_VOE_READ:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_voe_read(master, arg, priv);
-break;
-case EC_IOCTL_VOE_READ_NOSYNC:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_voe_read_nosync(master, arg, priv);
-break;
-case EC_IOCTL_VOE_WRITE:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_voe_write(master, arg, priv);
-break;
-case EC_IOCTL_VOE_EXEC:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_voe_exec(master, arg, priv);
-break;
-case EC_IOCTL_VOE_DATA:
-ret = ec_cdev_ioctl_voe_data(master, arg, priv);
-break;
-case EC_IOCTL_SET_SEND_INTERVAL:
-if (!(filp->f_mode & FMODE_WRITE)) {
-ret = -EPERM;
-break;
-}
-ret = ec_cdev_ioctl_set_send_interval(master, arg, priv);
-break;
-default:
-ret = -ENOTTY;
-break;
-}
-#if DEBUG_LATENCY
-b = get_cycles();
-t = (unsigned int) ((b - a) * 1000LL) / cpu_khz;
-if (t > 50) {
-EC_MASTER_WARN(master, "ioctl(0x%02x) took %u us.\n",
-_IOC_NR(cmd), t);
-}
-#endif
-return ret;
 }
 /*****************************************************************************/
 /** Memory-map callback for the EtherCAT character device.
 {
 unsigned long offset = vmf->pgoff << PAGE_SHIFT;
 ec_cdev_priv_t *priv = (ec_cdev_priv_t *) vma->vm_private_data;
 struct page *page;
-if (offset >= priv->process_data_size)
+if (offset >= priv->ctx.process_data_size)
 return VM_FAULT_SIGBUS;
-page = vmalloc_to_page(priv->process_data + offset);
+page = vmalloc_to_page(priv->ctx.process_data + offset);
 if (!page)
 return VM_FAULT_SIGBUS;
 get_page(page);
 vmf->page = page;
 ec_cdev_priv_t *priv = (ec_cdev_priv_t *) vma->vm_private_data;
 ec_master_t *master = priv->cdev->master;
 offset = (address - vma->vm_start) + (vma->vm_pgoff << PAGE_SHIFT);
-if (offset >= priv->process_data_size)
+if (offset >= priv->ctx.process_data_size)
 return NOPAGE_SIGBUS;
-page = vmalloc_to_page(priv->process_data + offset);
+page = vmalloc_to_page(priv->ctx.process_data + offset);
 EC_MASTER_DBG(master, 1, "Nopage fault vma, address = %#lx,"
 " offset = %#lx, page = %p\n", address, offset, page);
 get_page(page);

branch	stable-1.5
changeset 2433	3bdd7a747fae
parent 2421	bc2d4bf9cbe5
child 2516	3680924f6f87