etherlabmaster: comparison master/ioctl.c

equal deleted inserted replaced

-:f4313f5aba88
+:3bdd7a747fae
+/******************************************************************************
+*
+*  $Id$
+*
+*  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
+*  published by the Free Software Foundation.
+*
+*  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+*  but WITHOUT ANY WARRANTY; without even the implied warranty of
+*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+*  Public License for more details.
+*
+*  You should have received a copy of the GNU General Public License along
+*  with the IgH EtherCAT Master; if not, write to the Free Software
+*  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*
+*  ---
+*
+*  The license mentioned above concerns the source code only. Using the
+*  EtherCAT technology and brand is only permitted in compliance with the
+*  industrial property and similar rights of Beckhoff Automation GmbH.
+*
+*****************************************************************************/
+/**
+\file
+EtherCAT master character device.
+*/
+/*****************************************************************************/
+#include <linux/module.h>
+#include "master.h"
+#include "slave_config.h"
+#include "voe_handler.h"
+#include "ethernet.h"
+#include "ioctl.h"
+/** Set to 1 to enable ioctl() latency tracing.
+*
+* Requires CPU timestamp counter!
+*/
+#define DEBUG_LATENCY 0
+/*****************************************************************************/
+/** Copies a string to an ioctl structure.
+*/
+static void ec_ioctl_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.
+*/
+static int ec_ioctl_module(
+void *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.
+*/
+static int ec_ioctl_master(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_slave(
+ec_master_t *master, /**< EtherCAT master. */
+void *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_ioctl_strcpy(data.group, slave->sii.group);
+ec_ioctl_strcpy(data.image, slave->sii.image);
+ec_ioctl_strcpy(data.order, slave->sii.order);
+ec_ioctl_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.
+*/
+static int ec_ioctl_slave_sync(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_slave_sync_pdo(
+ec_master_t *master, /**< EtherCAT master. */
+void *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_ioctl_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.
+*/
+static int ec_ioctl_slave_sync_pdo_entry(
+ec_master_t *master, /**< EtherCAT master. */
+void *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_ioctl_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.
+*/
+static int ec_ioctl_domain(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_domain_fmmu(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_domain_data(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_master_debug(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg /**< ioctl() argument. */
+)
+{
+return ec_master_debug_level(master, (unsigned int) arg);
+}
+/*****************************************************************************/
+/** Issue a bus scan.
+*/
+static int ec_ioctl_master_rescan(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg /**< ioctl() argument. */
+)
+{
+master->fsm.rescan_required = 1;
+return 0;
+}
+/*****************************************************************************/
+/** Set slave state.
+*/
+static int ec_ioctl_slave_state(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_slave_sdo(
+ec_master_t *master, /**< EtherCAT master. */
+void *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_ioctl_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.
+*/
+static int ec_ioctl_slave_sdo_entry(
+ec_master_t *master, /**< EtherCAT master. */
+void *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_ioctl_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.
+*/
+static int ec_ioctl_slave_sdo_upload(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_slave_sdo_download(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_slave_sii_read(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_slave_sii_write(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_slave_reg_read(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_slave_reg_write(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_config(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_config_pdo(
+ec_master_t *master, /**< EtherCAT master. */
+void *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_ioctl_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.
+*/
+static int ec_ioctl_config_pdo_entry(
+ec_master_t *master, /**< EtherCAT master. */
+void *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_ioctl_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.
+*/
+static int ec_ioctl_config_sdo(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_config_idn(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_eoe_handler(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_request(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< 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 {
+ctx->requested = 1;
+}
+return ret;
+}
+/*****************************************************************************/
+/** Create a domain.
+*/
+static int ec_ioctl_create_domain(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_domain_t *domain;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_create_slave_config(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_config_t data;
+ec_slave_config_t *sc, *entry;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_activate(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_master_activate_t io;
+ec_domain_t *domain;
+off_t offset;
+int ret;
+if (unlikely(!ctx->requested))
+return -EPERM;
+io.process_data = NULL;
+/* Get the sum of the domains' process data sizes. */
+ctx->process_data_size = 0;
+if (down_interruptible(&master->master_sem))
+return -EINTR;
+list_for_each_entry(domain, &master->domains, list) {
+ctx->process_data_size += ecrt_domain_size(domain);
+}
+up(&master->master_sem);
+if (ctx->process_data_size) {
+ctx->process_data = vmalloc(ctx->process_data_size);
+if (!ctx->process_data) {
+ctx->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,
+ctx->process_data + offset);
+offset += ecrt_domain_size(domain);
+}
+#ifdef EC_IOCTL_RTDM
+		/* RTDM uses a different approach for memory-mapping, which has to be
+		 * initiated by the kernel.
+		 */
+		ret = ec_rtdm_mmap(ctx, &io.process_data);
+if (ret < 0) {
+EC_MASTER_ERR(master, "Failed to map process data"
+" memory to user space (code %i).\n", ret);
+return ret;
+}
+#endif
+}
+io.process_data_size = ctx->process_data_size;
+#ifndef EC_IOCTL_RTDM
+ecrt_master_callbacks(master, ec_master_internal_send_cb,
+ec_master_internal_receive_cb, master);
+#endif
+ret = ecrt_master_activate(master);
+if (ret < 0)
+return ret;
+if (copy_to_user((void __user *) arg, &io,
+sizeof(ec_ioctl_master_activate_t)))
+return -EFAULT;
+return 0;
+}
+/*****************************************************************************/
+/** Deactivates the master.
+*/
+static int ec_ioctl_deactivate(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+if (unlikely(!ctx->requested))
+return -EPERM;
+ecrt_master_deactivate(master);
+return 0;
+}
+/*****************************************************************************/
+/** Set max. number of databytes in a cycle
+*/
+static int ec_ioctl_set_send_interval(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< 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.
+*/
+static int ec_ioctl_send(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+if (unlikely(!ctx->requested))
+return -EPERM;
+down(&master->io_sem);
+ecrt_master_send(master);
+up(&master->io_sem);
+return 0;
+}
+/*****************************************************************************/
+/** Receive frames.
+*/
+static int ec_ioctl_receive(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+if (unlikely(!ctx->requested))
+return -EPERM;
+down(&master->io_sem);
+ecrt_master_receive(master);
+up(&master->io_sem);
+return 0;
+}
+/*****************************************************************************/
+/** Get the master state.
+*/
+static int ec_ioctl_master_state(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_master_state_t data;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_master_link_state(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_link_state_t ioctl;
+ec_master_link_state_t state;
+int ret;
+if (unlikely(!ctx->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;
+}
+/*****************************************************************************/
+/** Set the master dc app time.
+*/
+static int ec_ioctl_app_time(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_app_time_t data;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sync_ref(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+if (unlikely(!ctx->requested))
+return -EPERM;
+down(&master->io_sem);
+ecrt_master_sync_reference_clock(master);
+up(&master->io_sem);
+return 0;
+}
+/*****************************************************************************/
+/** Sync the slave clocks.
+*/
+static int ec_ioctl_sync_slaves(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+if (unlikely(!ctx->requested))
+return -EPERM;
+down(&master->io_sem);
+ecrt_master_sync_slave_clocks(master);
+up(&master->io_sem);
+return 0;
+}
+/*****************************************************************************/
+/** Queue the sync monitoring datagram.
+*/
+static int ec_ioctl_sync_mon_queue(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+if (unlikely(!ctx->requested))
+return -EPERM;
+down(&master->io_sem);
+ecrt_master_sync_monitor_queue(master);
+up(&master->io_sem);
+return 0;
+}
+/*****************************************************************************/
+/** Processes the sync monitoring datagram.
+*/
+static int ec_ioctl_sync_mon_process(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+uint32_t time_diff;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_reset(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+if (unlikely(!ctx->requested))
+return -EPERM;
+down(&master->master_sem);
+ecrt_master_reset(master);
+up(&master->master_sem);
+return 0;
+}
+/*****************************************************************************/
+/** Configure a sync manager.
+*/
+static int ec_ioctl_sc_sync(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_config_t data;
+ec_slave_config_t *sc;
+unsigned int i;
+int ret = 0;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sc_watchdog(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_config_t data;
+ec_slave_config_t *sc;
+int ret = 0;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sc_add_pdo(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_config_pdo_t data;
+ec_slave_config_t *sc;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sc_clear_pdos(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_config_pdo_t data;
+ec_slave_config_t *sc;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sc_add_entry(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_add_pdo_entry_t data;
+ec_slave_config_t *sc;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sc_clear_entries(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_config_pdo_t data;
+ec_slave_config_t *sc;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sc_reg_pdo_entry(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< 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(!ctx->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.
+*/
+static int ec_ioctl_sc_dc(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_config_t data;
+ec_slave_config_t *sc;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sc_sdo(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< 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(!ctx->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.
+*/
+static int ec_ioctl_sc_create_sdo_request(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_sdo_request_t data;
+ec_slave_config_t *sc;
+ec_sdo_request_t *req;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sc_create_voe_handler(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_voe_t data;
+ec_slave_config_t *sc;
+ec_voe_handler_t *voe;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sc_state(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< 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(!ctx->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.
+*/
+static int ec_ioctl_sc_idn(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< 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(!ctx->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.
+*/
+static int ec_ioctl_domain_offset(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+int offset = 0;
+const ec_domain_t *domain;
+if (unlikely(!ctx->requested))
+return -EPERM;
+if (down_interruptible(&master->master_sem)) {
+return -EINTR;
+}
+list_for_each_entry(domain, &master->domains, list) {
+if (domain->index == (unsigned int) arg) {
+up(&master->master_sem);
+return offset;
+}
+offset += ecrt_domain_size(domain);
+}
+up(&master->master_sem);
+return -ENOENT;
+}
+/*****************************************************************************/
+/** Process the domain.
+*/
+static int ec_ioctl_domain_process(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_domain_t *domain;
+if (unlikely(!ctx->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, (unsigned int) arg))) {
+return -ENOENT;
+}
+ecrt_domain_process(domain);
+return 0;
+}
+/*****************************************************************************/
+/** Queue the domain.
+*/
+static int ec_ioctl_domain_queue(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_domain_t *domain;
+if (unlikely(!ctx->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, (unsigned int) arg))) {
+return -ENOENT;
+}
+ecrt_domain_queue(domain);
+return 0;
+}
+/*****************************************************************************/
+/** Get the domain state.
+*/
+static int ec_ioctl_domain_state(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_domain_state_t data;
+const ec_domain_t *domain;
+ec_domain_state_t state;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sdo_request_timeout(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_sdo_request_t data;
+ec_slave_config_t *sc;
+ec_sdo_request_t *req;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sdo_request_state(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_sdo_request_t data;
+ec_slave_config_t *sc;
+ec_sdo_request_t *req;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sdo_request_read(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_sdo_request_t data;
+ec_slave_config_t *sc;
+ec_sdo_request_t *req;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_sdo_request_write(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< 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(!ctx->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.
+*/
+static int ec_ioctl_sdo_request_data(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_sdo_request_t data;
+ec_slave_config_t *sc;
+ec_sdo_request_t *req;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_voe_send_header(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< 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(!ctx->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.
+*/
+static int ec_ioctl_voe_rec_header(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< 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(!ctx->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.
+*/
+static int ec_ioctl_voe_read(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_voe_t data;
+ec_slave_config_t *sc;
+ec_voe_handler_t *voe;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_voe_read_nosync(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_voe_t data;
+ec_slave_config_t *sc;
+ec_voe_handler_t *voe;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_voe_write(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_voe_t data;
+ec_slave_config_t *sc;
+ec_voe_handler_t *voe;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_voe_exec(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_voe_t data;
+ec_slave_config_t *sc;
+ec_voe_handler_t *voe;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_voe_data(
+ec_master_t *master, /**< EtherCAT master. */
+void *arg, /**< ioctl() argument. */
+ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+)
+{
+ec_ioctl_voe_t data;
+ec_slave_config_t *sc;
+ec_voe_handler_t *voe;
+if (unlikely(!ctx->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.
+*/
+static int ec_ioctl_slave_foe_read(
+ec_master_t *master, /**< EtherCAT master. */
+void *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
+*/
+static int ec_ioctl_slave_foe_write(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_slave_soe_read(
+ec_master_t *master, /**< EtherCAT master. */
+void *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.
+*/
+static int ec_ioctl_slave_soe_write(
+ec_master_t *master, /**< EtherCAT master. */
+void *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;
+}
+/*****************************************************************************/
+#ifdef EC_IOCTL_RTDM
+#define EC_IOCTL ec_ioctl_rtdm
+#else
+#define EC_IOCTL ec_ioctl
+#endif
+/** Called when an ioctl() command is issued.
+*/
+long EC_IOCTL(ec_master_t *master, ec_ioctl_context_t *ctx,
+		unsigned int cmd, void *arg)
+{
+#if DEBUG_LATENCY
+cycles_t a = get_cycles(), b;
+unsigned int t;
+#endif
+int ret;
+switch (cmd) {
+case EC_IOCTL_MODULE:
+ret = ec_ioctl_module(arg);
+break;
+case EC_IOCTL_MASTER:
+ret = ec_ioctl_master(master, arg);
+break;
+case EC_IOCTL_SLAVE:
+ret = ec_ioctl_slave(master, arg);
+break;
+case EC_IOCTL_SLAVE_SYNC:
+ret = ec_ioctl_slave_sync(master, arg);
+break;
+case EC_IOCTL_SLAVE_SYNC_PDO:
+ret = ec_ioctl_slave_sync_pdo(master, arg);
+break;
+case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
+ret = ec_ioctl_slave_sync_pdo_entry(master, arg);
+break;
+case EC_IOCTL_DOMAIN:
+ret = ec_ioctl_domain(master, arg);
+break;
+case EC_IOCTL_DOMAIN_FMMU:
+ret = ec_ioctl_domain_fmmu(master, arg);
+break;
+case EC_IOCTL_DOMAIN_DATA:
+ret = ec_ioctl_domain_data(master, arg);
+break;
+case EC_IOCTL_MASTER_DEBUG:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_master_debug(master, arg);
+break;
+case EC_IOCTL_MASTER_RESCAN:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_master_rescan(master, arg);
+break;
+case EC_IOCTL_SLAVE_STATE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_slave_state(master, arg);
+break;
+case EC_IOCTL_SLAVE_SDO:
+ret = ec_ioctl_slave_sdo(master, arg);
+break;
+case EC_IOCTL_SLAVE_SDO_ENTRY:
+ret = ec_ioctl_slave_sdo_entry(master, arg);
+break;
+case EC_IOCTL_SLAVE_SDO_UPLOAD:
+ret = ec_ioctl_slave_sdo_upload(master, arg);
+break;
+case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_slave_sdo_download(master, arg);
+break;
+case EC_IOCTL_SLAVE_SII_READ:
+ret = ec_ioctl_slave_sii_read(master, arg);
+break;
+case EC_IOCTL_SLAVE_SII_WRITE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_slave_sii_write(master, arg);
+break;
+case EC_IOCTL_SLAVE_REG_READ:
+ret = ec_ioctl_slave_reg_read(master, arg);
+break;
+case EC_IOCTL_SLAVE_REG_WRITE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_slave_reg_write(master, arg);
+break;
+case EC_IOCTL_SLAVE_FOE_READ:
+ret = ec_ioctl_slave_foe_read(master, arg);
+break;
+case EC_IOCTL_SLAVE_FOE_WRITE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_slave_foe_write(master, arg);
+break;
+case EC_IOCTL_SLAVE_SOE_READ:
+ret = ec_ioctl_slave_soe_read(master, arg);
+break;
+case EC_IOCTL_SLAVE_SOE_WRITE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_slave_soe_write(master, arg);
+break;
+case EC_IOCTL_CONFIG:
+ret = ec_ioctl_config(master, arg);
+break;
+case EC_IOCTL_CONFIG_PDO:
+ret = ec_ioctl_config_pdo(master, arg);
+break;
+case EC_IOCTL_CONFIG_PDO_ENTRY:
+ret = ec_ioctl_config_pdo_entry(master, arg);
+break;
+case EC_IOCTL_CONFIG_SDO:
+ret = ec_ioctl_config_sdo(master, arg);
+break;
+case EC_IOCTL_CONFIG_IDN:
+ret = ec_ioctl_config_idn(master, arg);
+break;
+#ifdef EC_EOE
+case EC_IOCTL_EOE_HANDLER:
+ret = ec_ioctl_eoe_handler(master, arg);
+break;
+#endif
+case EC_IOCTL_REQUEST:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_request(master, arg, ctx);
+break;
+case EC_IOCTL_CREATE_DOMAIN:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_create_domain(master, arg, ctx);
+break;
+case EC_IOCTL_CREATE_SLAVE_CONFIG:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_create_slave_config(master, arg, ctx);
+break;
+case EC_IOCTL_ACTIVATE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_activate(master, arg, ctx);
+break;
+case EC_IOCTL_DEACTIVATE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_deactivate(master, arg, ctx);
+break;
+case EC_IOCTL_SEND:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_send(master, arg, ctx);
+break;
+case EC_IOCTL_RECEIVE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_receive(master, arg, ctx);
+break;
+case EC_IOCTL_MASTER_STATE:
+ret = ec_ioctl_master_state(master, arg, ctx);
+break;
+case EC_IOCTL_MASTER_LINK_STATE:
+ret = ec_ioctl_master_link_state(master, arg, ctx);
+break;
+case EC_IOCTL_APP_TIME:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_app_time(master, arg, ctx);
+break;
+case EC_IOCTL_SYNC_REF:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sync_ref(master, arg, ctx);
+break;
+case EC_IOCTL_SYNC_SLAVES:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sync_slaves(master, arg, ctx);
+break;
+case EC_IOCTL_SYNC_MON_QUEUE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sync_mon_queue(master, arg, ctx);
+break;
+case EC_IOCTL_SYNC_MON_PROCESS:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sync_mon_process(master, arg, ctx);
+break;
+case EC_IOCTL_RESET:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_reset(master, arg, ctx);
+break;
+case EC_IOCTL_SC_SYNC:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sc_sync(master, arg, ctx);
+break;
+case EC_IOCTL_SC_WATCHDOG:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sc_watchdog(master, arg, ctx);
+break;
+case EC_IOCTL_SC_ADD_PDO:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sc_add_pdo(master, arg, ctx);
+break;
+case EC_IOCTL_SC_CLEAR_PDOS:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sc_clear_pdos(master, arg, ctx);
+break;
+case EC_IOCTL_SC_ADD_ENTRY:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sc_add_entry(master, arg, ctx);
+break;
+case EC_IOCTL_SC_CLEAR_ENTRIES:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sc_clear_entries(master, arg, ctx);
+break;
+case EC_IOCTL_SC_REG_PDO_ENTRY:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sc_reg_pdo_entry(master, arg, ctx);
+break;
+case EC_IOCTL_SC_DC:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sc_dc(master, arg, ctx);
+break;
+case EC_IOCTL_SC_SDO:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sc_sdo(master, arg, ctx);
+break;
+case EC_IOCTL_SC_SDO_REQUEST:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sc_create_sdo_request(master, arg, ctx);
+break;
+case EC_IOCTL_SC_VOE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sc_create_voe_handler(master, arg, ctx);
+break;
+case EC_IOCTL_SC_STATE:
+ret = ec_ioctl_sc_state(master, arg, ctx);
+break;
+case EC_IOCTL_SC_IDN:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sc_idn(master, arg, ctx);
+break;
+case EC_IOCTL_DOMAIN_OFFSET:
+ret = ec_ioctl_domain_offset(master, arg, ctx);
+break;
+case EC_IOCTL_DOMAIN_PROCESS:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_domain_process(master, arg, ctx);
+break;
+case EC_IOCTL_DOMAIN_QUEUE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_domain_queue(master, arg, ctx);
+break;
+case EC_IOCTL_DOMAIN_STATE:
+ret = ec_ioctl_domain_state(master, arg, ctx);
+break;
+case EC_IOCTL_SDO_REQUEST_TIMEOUT:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sdo_request_timeout(master, arg, ctx);
+break;
+case EC_IOCTL_SDO_REQUEST_STATE:
+ret = ec_ioctl_sdo_request_state(master, arg, ctx);
+break;
+case EC_IOCTL_SDO_REQUEST_READ:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sdo_request_read(master, arg, ctx);
+break;
+case EC_IOCTL_SDO_REQUEST_WRITE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_sdo_request_write(master, arg, ctx);
+break;
+case EC_IOCTL_SDO_REQUEST_DATA:
+ret = ec_ioctl_sdo_request_data(master, arg, ctx);
+break;
+case EC_IOCTL_VOE_SEND_HEADER:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_voe_send_header(master, arg, ctx);
+break;
+case EC_IOCTL_VOE_REC_HEADER:
+ret = ec_ioctl_voe_rec_header(master, arg, ctx);
+break;
+case EC_IOCTL_VOE_READ:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_voe_read(master, arg, ctx);
+break;
+case EC_IOCTL_VOE_READ_NOSYNC:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_voe_read_nosync(master, arg, ctx);
+break;
+case EC_IOCTL_VOE_WRITE:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_voe_write(master, arg, ctx);
+break;
+case EC_IOCTL_VOE_EXEC:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_voe_exec(master, arg, ctx);
+break;
+case EC_IOCTL_VOE_DATA:
+ret = ec_ioctl_voe_data(master, arg, ctx);
+break;
+case EC_IOCTL_SET_SEND_INTERVAL:
+if (!ctx->writable) {
+ret = -EPERM;
+break;
+}
+ret = ec_ioctl_set_send_interval(master, arg, ctx);
+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;
+}
+/*****************************************************************************/

branch	stable-1.5
changeset 2433	3bdd7a747fae
child 2434	fa52128477f6