--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/ioctl.c Mon Nov 03 15:20:05 2014 +0100
@@ -0,0 +1,4613 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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 <linux/vmalloc.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
+
+/** Optional compiler attributes fo ioctl() functions.
+ */
+#if 0
+#define ATTRIBUTES __attribute__ ((__noinline__))
+#else
+#define ATTRIBUTES
+#endif
+
+/*****************************************************************************/
+
+/** 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_master(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg /**< Userspace address to store the results. */
+ )
+{
+ ec_ioctl_master_t io;
+ unsigned int dev_idx, j;
+
+ if (down_interruptible(&master->master_sem)) {
+ return -EINTR;
+ }
+
+ io.slave_count = master->slave_count;
+ io.config_count = ec_master_config_count(master);
+ io.domain_count = ec_master_domain_count(master);
+#ifdef EC_EOE
+ io.eoe_handler_count = ec_master_eoe_handler_count(master);
+#endif
+ io.phase = (uint8_t) master->phase;
+ io.active = (uint8_t) master->active;
+ io.scan_busy = master->scan_busy;
+
+ up(&master->master_sem);
+
+ if (down_interruptible(&master->device_sem)) {
+ return -EINTR;
+ }
+
+ for (dev_idx = EC_DEVICE_MAIN;
+ dev_idx < ec_master_num_devices(master); dev_idx++) {
+ ec_device_t *device = &master->devices[dev_idx];
+
+ if (device->dev) {
+ memcpy(io.devices[dev_idx].address, device->dev->dev_addr,
+ ETH_ALEN);
+ } else {
+ memcpy(io.devices[dev_idx].address, master->macs[dev_idx],
+ ETH_ALEN);
+ }
+ io.devices[dev_idx].attached = device->dev ? 1 : 0;
+ io.devices[dev_idx].link_state = device->link_state ? 1 : 0;
+ io.devices[dev_idx].tx_count = device->tx_count;
+ io.devices[dev_idx].rx_count = device->rx_count;
+ io.devices[dev_idx].tx_bytes = device->tx_bytes;
+ io.devices[dev_idx].rx_bytes = device->rx_bytes;
+ io.devices[dev_idx].tx_errors = device->tx_errors;
+ for (j = 0; j < EC_RATE_COUNT; j++) {
+ io.devices[dev_idx].tx_frame_rates[j] =
+ device->tx_frame_rates[j];
+ io.devices[dev_idx].rx_frame_rates[j] =
+ device->rx_frame_rates[j];
+ io.devices[dev_idx].tx_byte_rates[j] =
+ device->tx_byte_rates[j];
+ io.devices[dev_idx].rx_byte_rates[j] =
+ device->rx_byte_rates[j];
+ }
+ }
+ io.num_devices = ec_master_num_devices(master);
+
+ io.tx_count = master->device_stats.tx_count;
+ io.rx_count = master->device_stats.rx_count;
+ io.tx_bytes = master->device_stats.tx_bytes;
+ io.rx_bytes = master->device_stats.rx_bytes;
+ for (j = 0; j < EC_RATE_COUNT; j++) {
+ io.tx_frame_rates[j] =
+ master->device_stats.tx_frame_rates[j];
+ io.rx_frame_rates[j] =
+ master->device_stats.rx_frame_rates[j];
+ io.tx_byte_rates[j] =
+ master->device_stats.tx_byte_rates[j];
+ io.rx_byte_rates[j] =
+ master->device_stats.rx_byte_rates[j];
+ io.loss_rates[j] =
+ master->device_stats.loss_rates[j];
+ }
+
+ up(&master->device_sem);
+
+ io.app_time = master->app_time;
+ io.ref_clock =
+ master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff;
+
+ if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Get slave information.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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 = EC_DEVICE_MAIN;
+ dev_idx < ec_master_num_devices(domain->master); 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_master_debug(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg /**< ioctl() argument. */
+ )
+{
+ return ec_master_debug_level(master, (unsigned long) arg);
+}
+
+/*****************************************************************************/
+
+/** Issue a bus scan.
+ *
+ * \return Always zero (success).
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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 %zu 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 ret;
+}
+
+/*****************************************************************************/
+
+/** Download SDO.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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 %zu 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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)) {
+ kfree(words);
+ 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->request_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->request_queue, request.state != EC_INT_REQUEST_BUSY);
+
+ kfree(words);
+
+ return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
+}
+
+/*****************************************************************************/
+
+/** Read a slave's registers.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_slave_reg_read(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg /**< ioctl() argument. */
+ )
+{
+ ec_ioctl_slave_reg_t io;
+ ec_slave_t *slave;
+ ec_reg_request_t request;
+ int ret;
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ if (!io.size) {
+ return 0;
+ }
+
+ // init register request
+ ret = ec_reg_request_init(&request, io.size);
+ if (ret) {
+ return ret;
+ }
+
+ ecrt_reg_request_read(&request, io.address, io.size);
+
+ if (down_interruptible(&master->master_sem)) {
+ ec_reg_request_clear(&request);
+ return -EINTR;
+ }
+
+ if (!(slave = ec_master_find_slave(
+ master, 0, io.slave_position))) {
+ up(&master->master_sem);
+ ec_reg_request_clear(&request);
+ EC_MASTER_ERR(master, "Slave %u does not exist!\n",
+ io.slave_position);
+ return -EINVAL;
+ }
+
+ // schedule request.
+ list_add_tail(&request.list, &slave->reg_requests);
+
+ up(&master->master_sem);
+
+ // wait for processing through FSM
+ if (wait_event_interruptible(master->request_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);
+ ec_reg_request_clear(&request);
+ return -EINTR;
+ }
+ up(&master->master_sem);
+ }
+
+ // wait until master FSM has finished processing
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
+
+ if (request.state == EC_INT_REQUEST_SUCCESS) {
+ if (copy_to_user((void __user *) io.data, request.data, io.size)) {
+ return -EFAULT;
+ }
+ }
+ ec_reg_request_clear(&request);
+
+ return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
+}
+
+/*****************************************************************************/
+
+/** Write a slave's registers.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_slave_reg_write(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg /**< ioctl() argument. */
+ )
+{
+ ec_ioctl_slave_reg_t io;
+ ec_slave_t *slave;
+ ec_reg_request_t request;
+ int ret;
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ if (!io.size) {
+ return 0;
+ }
+
+ // init register request
+ ret = ec_reg_request_init(&request, io.size);
+ if (ret) {
+ return ret;
+ }
+
+ if (copy_from_user(request.data, (void __user *) io.data, io.size)) {
+ ec_reg_request_clear(&request);
+ return -EFAULT;
+ }
+
+ ecrt_reg_request_write(&request, io.address, io.size);
+
+ if (down_interruptible(&master->master_sem)) {
+ ec_reg_request_clear(&request);
+ return -EINTR;
+ }
+
+ if (io.emergency) {
+ request.ring_position = io.slave_position;
+ // schedule request.
+ list_add_tail(&request.list, &master->emerg_reg_requests);
+ }
+ else {
+ if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) {
+ up(&master->master_sem);
+ ec_reg_request_clear(&request);
+ EC_MASTER_ERR(master, "Slave %u does not exist!\n",
+ io.slave_position);
+ return -EINVAL;
+ }
+
+ // schedule request.
+ list_add_tail(&request.list, &slave->reg_requests);
+ }
+
+ up(&master->master_sem);
+
+ // wait for processing through FSM
+ if (wait_event_interruptible(master->request_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);
+ ec_reg_request_clear(&request);
+ return -EINTR;
+ }
+ up(&master->master_sem);
+ }
+
+ // wait until master FSM has finished processing
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
+
+ ec_reg_request_clear(&request);
+
+ return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
+}
+
+/*****************************************************************************/
+
+/** Get slave configuration information.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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));
+ ioctl->complete_access = req->complete_access;
+
+ 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Domain index on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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;
+}
+
+/*****************************************************************************/
+
+/** Select the DC reference clock.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_select_ref_clock(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg, /**< ioctl() argument. */
+ ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+ )
+{
+ unsigned long config_index = (unsigned long) arg;
+ ec_slave_config_t *sc = NULL;
+ int ret = 0;
+
+ if (unlikely(!ctx->requested)) {
+ ret = -EPERM;
+ goto out_return;
+ }
+
+ if (down_interruptible(&master->master_sem)) {
+ ret = -EINTR;
+ goto out_return;
+ }
+
+ if (config_index != 0xFFFFFFFF) {
+ if (!(sc = ec_master_get_config(master, config_index))) {
+ ret = -ENOENT;
+ goto out_up;
+ }
+ }
+
+ ecrt_master_select_reference_clock(master, sc);
+
+out_up:
+ up(&master->master_sem);
+out_return:
+ return ret;
+}
+
+/*****************************************************************************/
+
+/** Activates the master.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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 (unlikely(!ctx->requested)) {
+ return -EPERM;
+ }
+
+ 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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;
+ }
+
+ ecrt_master_send(master);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Receive frames.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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;
+ }
+
+ ecrt_master_receive(master);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Get the master state.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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;
+
+ ecrt_master_state(master, &data);
+
+ if (copy_to_user((void __user *) arg, &data, sizeof(data)))
+ return -EFAULT;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Get the link state.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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 (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 application time.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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;
+ }
+
+ ecrt_master_sync_reference_clock(master);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Sync the slave clocks.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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;
+ }
+
+ ecrt_master_sync_slave_clocks(master);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Get the system time of the reference clock.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_ref_clock_time(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg, /**< ioctl() argument. */
+ ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+ )
+{
+ uint32_t time;
+ int ret;
+
+ if (unlikely(!ctx->requested)) {
+ return -EPERM;
+ }
+
+ ret = ecrt_master_reference_clock_time(master, &time);
+ if (ret) {
+ return ret;
+ }
+
+ if (copy_to_user((void __user *) arg, &time, sizeof(time))) {
+ return -EFAULT;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Queue the sync monitoring datagram.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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;
+ }
+
+ ecrt_master_sync_monitor_queue(master);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Processes the sync monitoring datagram.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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;
+
+ time_diff = ecrt_master_sync_monitor_process(master);
+
+ if (copy_to_user((void __user *) arg, &time_diff, sizeof(time_diff)))
+ return -EFAULT;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Reset configuration.
+ *
+ * \return Always zero (success).
+ */
+static ATTRIBUTES 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. */
+ )
+{
+ down(&master->master_sem);
+ ecrt_master_reset(master);
+ up(&master->master_sem);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Configure a sync manager.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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) {
+ ret = ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir,
+ data.syncs[i].watchdog_mode);
+ if (ret) {
+ goto out_up;
+ }
+ }
+ }
+
+out_up:
+ up(&master->master_sem);
+out_return:
+ return ret;
+}
+
+/*****************************************************************************/
+
+/** Configure a slave's watchdogs.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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); /** \todo sc could be invalidated */
+
+ return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index);
+}
+
+/*****************************************************************************/
+
+/** Clears the PDO assignment.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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); /** \todo sc could be invalidated */
+
+ ecrt_slave_config_pdo_assign_clear(sc, data.sync_index);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Add an entry to a PDO's mapping.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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); /** \todo 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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); /** \todo sc could be invalidated */
+
+ ecrt_slave_config_pdo_mapping_clear(sc, data.index);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Registers a PDO entry.
+ *
+ * \return Process data offset on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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); /** \todo 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;
+}
+
+/*****************************************************************************/
+
+/** Registers a PDO entry by its position.
+ *
+ * \return Process data offset on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_sc_reg_pdo_pos(
+ 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_pos_t io;
+ ec_slave_config_t *sc;
+ ec_domain_t *domain;
+ int ret;
+
+ if (unlikely(!ctx->requested)) {
+ return -EPERM;
+ }
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ if (down_interruptible(&master->master_sem)) {
+ return -EINTR;
+ }
+
+ if (!(sc = ec_master_get_config(master, io.config_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ if (!(domain = ec_master_find_domain(master, io.domain_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ up(&master->master_sem); /** \todo sc or domain could be invalidated */
+
+ ret = ecrt_slave_config_reg_pdo_entry_pos(sc, io.sync_index,
+ io.pdo_pos, io.entry_pos, domain, &io.bit_position);
+
+ if (copy_to_user((void __user *) arg, &io, sizeof(io)))
+ return -EFAULT;
+
+ return ret;
+}
+
+/*****************************************************************************/
+
+/** Sets the DC AssignActivate word and the sync signal times.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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); /** \todo 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;
+}
+
+/*****************************************************************************/
+
+/** Set the emergency ring buffer size.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_sc_emerg_size(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg, /**< ioctl() argument. */
+ ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_sc_emerg_t io;
+ ec_slave_config_t *sc;
+ int ret;
+
+ if (unlikely(!ctx->requested))
+ return -EPERM;
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io)))
+ return -EFAULT;
+
+ if (down_interruptible(&master->master_sem)) {
+ return -EINTR;
+ }
+
+ if (!(sc = ec_master_get_config(master, io.config_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ ret = ecrt_slave_config_emerg_size(sc, io.size);
+
+ up(&master->master_sem);
+
+ return ret;
+}
+
+/*****************************************************************************/
+
+/** Get an emergency message from the ring.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_sc_emerg_pop(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg, /**< ioctl() argument. */
+ ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_sc_emerg_t io;
+ ec_slave_config_t *sc;
+ u8 msg[EC_COE_EMERGENCY_MSG_SIZE];
+ int ret;
+
+ if (unlikely(!ctx->requested)) {
+ return -EPERM;
+ }
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ /* no locking of master_sem needed, because configuration will not be
+ * deleted in the meantime. */
+
+ if (!(sc = ec_master_get_config(master, io.config_index))) {
+ return -ENOENT;
+ }
+
+ ret = ecrt_slave_config_emerg_pop(sc, msg);
+ if (ret < 0) {
+ return ret;
+ }
+
+ if (copy_to_user((void __user *) io.target, msg, sizeof(msg))) {
+ return -EFAULT;
+ }
+
+ return ret;
+}
+
+/*****************************************************************************/
+
+/** Clear the emergency ring.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_sc_emerg_clear(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg, /**< ioctl() argument. */
+ ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_sc_emerg_t io;
+ ec_slave_config_t *sc;
+
+ if (unlikely(!ctx->requested)) {
+ return -EPERM;
+ }
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ /* no locking of master_sem needed, because configuration will not be
+ * deleted in the meantime. */
+
+ if (!(sc = ec_master_get_config(master, io.config_index))) {
+ return -ENOENT;
+ }
+
+ return ecrt_slave_config_emerg_clear(sc);
+}
+
+/*****************************************************************************/
+
+/** Get the number of emergency overruns.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_sc_emerg_overruns(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg, /**< ioctl() argument. */
+ ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_sc_emerg_t io;
+ ec_slave_config_t *sc;
+ int ret;
+
+ if (unlikely(!ctx->requested)) {
+ return -EPERM;
+ }
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ /* no locking of master_sem needed, because configuration will not be
+ * deleted in the meantime. */
+
+ if (!(sc = ec_master_get_config(master, io.config_index))) {
+ return -ENOENT;
+ }
+
+ ret = ecrt_slave_config_emerg_overruns(sc);
+ if (ret < 0) {
+ return ret;
+ }
+
+ io.overruns = ret;
+
+ if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Create an SDO request.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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); /** \todo 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 register request.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_sc_create_reg_request(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg, /**< ioctl() argument. */
+ ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_reg_request_t io;
+ ec_slave_config_t *sc;
+ ec_reg_request_t *reg;
+
+ if (unlikely(!ctx->requested)) {
+ return -EPERM;
+ }
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ io.request_index = 0;
+
+ if (down_interruptible(&master->master_sem)) {
+ return -EINTR;
+ }
+
+ sc = ec_master_get_config(master, io.config_index);
+ if (!sc) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ list_for_each_entry(reg, &sc->reg_requests, list) {
+ io.request_index++;
+ }
+
+ up(&master->master_sem); /** \todo sc could be invalidated */
+
+ reg = ecrt_slave_config_create_reg_request_err(sc, io.mem_size);
+ if (IS_ERR(reg)) {
+ return PTR_ERR(reg);
+ }
+
+ if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Create a VoE handler.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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); /** \todo 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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); /** \todo 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 data size.
+ *
+ * \return Domain size, or a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_domain_size(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg, /**< ioctl() argument. */
+ ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+ )
+{
+ 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 long) arg) {
+ size_t size = ecrt_domain_size(domain);
+ up(&master->master_sem);
+ return size;
+ }
+ }
+
+ up(&master->master_sem);
+ return -ENOENT;
+}
+
+/*****************************************************************************/
+
+/** Gets the domain's offset in the total process data.
+ *
+ * \return Domain offset, or a negative error code.
+ */
+static ATTRIBUTES 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 long) arg) {
+ up(&master->master_sem);
+ return offset;
+ }
+ offset += ecrt_domain_size(domain);
+ }
+
+ up(&master->master_sem);
+ return -ENOENT;
+}
+
+/*****************************************************************************/
+
+/** Process the domain.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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 long) arg))) {
+ return -ENOENT;
+ }
+
+ ecrt_domain_process(domain);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Queue the domain.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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 long) arg))) {
+ return -ENOENT;
+ }
+
+ ecrt_domain_queue(domain);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Get the domain state.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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 SDO index and subindex.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_sdo_request_index(
+ 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_index(req, data.sdo_index, data.sdo_subindex);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Sets an SDO request's timeout.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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;
+}
+
+/*****************************************************************************/
+
+/** Read register data.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_reg_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_reg_request_t io;
+ ec_slave_config_t *sc;
+ ec_reg_request_t *reg;
+
+ if (unlikely(!ctx->requested)) {
+ return -EPERM;
+ }
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ if (io.mem_size <= 0) {
+ return 0;
+ }
+
+ /* no locking of master_sem needed, because neither sc nor reg will not be
+ * deleted in the meantime. */
+
+ if (!(sc = ec_master_get_config(master, io.config_index))) {
+ return -ENOENT;
+ }
+
+ if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
+ return -ENOENT;
+ }
+
+ if (copy_to_user((void __user *) io.data, ecrt_reg_request_data(reg),
+ min(reg->mem_size, io.mem_size))) {
+ return -EFAULT;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Gets an register request's state.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_reg_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_reg_request_t io;
+ ec_slave_config_t *sc;
+ ec_reg_request_t *reg;
+
+ if (unlikely(!ctx->requested)) {
+ return -EPERM;
+ }
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ /* no locking of master_sem needed, because neither sc nor reg will not be
+ * deleted in the meantime. */
+
+ if (!(sc = ec_master_get_config(master, io.config_index))) {
+ return -ENOENT;
+ }
+
+ if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
+ return -ENOENT;
+ }
+
+ io.state = ecrt_reg_request_state(reg);
+ io.new_data = io.state == EC_REQUEST_SUCCESS && reg->dir == EC_DIR_INPUT;
+
+ if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Starts an register write operation.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_reg_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_reg_request_t io;
+ ec_slave_config_t *sc;
+ ec_reg_request_t *reg;
+
+ if (unlikely(!ctx->requested)) {
+ return -EPERM;
+ }
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ /* no locking of master_sem needed, because neither sc nor reg will not be
+ * deleted in the meantime. */
+
+ if (!(sc = ec_master_get_config(master, io.config_index))) {
+ return -ENOENT;
+ }
+
+ if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
+ return -ENOENT;
+ }
+
+ if (io.transfer_size > reg->mem_size) {
+ return -EOVERFLOW;
+ }
+
+ if (copy_from_user(reg->data, (void __user *) io.data,
+ io.transfer_size)) {
+ return -EFAULT;
+ }
+
+ ecrt_reg_request_write(reg, io.address, io.transfer_size);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Starts an register read operation.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_reg_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_reg_request_t io;
+ ec_slave_config_t *sc;
+ ec_reg_request_t *reg;
+
+ if (unlikely(!ctx->requested)) {
+ return -EPERM;
+ }
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ /* no locking of master_sem needed, because neither sc nor reg will not be
+ * deleted in the meantime. */
+
+ if (!(sc = ec_master_get_config(master, io.config_index))) {
+ return -ENOENT;
+ }
+
+ if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
+ return -ENOENT;
+ }
+
+ if (io.transfer_size > reg->mem_size) {
+ return -EOVERFLOW;
+ }
+
+ ecrt_reg_request_read(reg, io.address, io.transfer_size);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Sets the VoE send header.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_slave_foe_read(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg /**< ioctl() argument. */
+ )
+{
+ ec_ioctl_slave_foe_t io;
+ ec_foe_request_t request;
+ ec_slave_t *slave;
+ int ret;
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ ec_foe_request_init(&request, io.file_name);
+ ret = ec_foe_request_alloc(&request, 10000); // FIXME
+ if (ret) {
+ ec_foe_request_clear(&request);
+ return ret;
+ }
+
+ ec_foe_request_read(&request);
+
+ if (down_interruptible(&master->master_sem)) {
+ ec_foe_request_clear(&request);
+ return -EINTR;
+ }
+
+ if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) {
+ up(&master->master_sem);
+ ec_foe_request_clear(&request);
+ EC_MASTER_ERR(master, "Slave %u does not exist!\n",
+ io.slave_position);
+ return -EINVAL;
+ }
+
+ EC_SLAVE_DBG(slave, 1, "Scheduling FoE read request.\n");
+
+ // schedule request.
+ list_add_tail(&request.list, &slave->foe_requests);
+
+ up(&master->master_sem);
+
+ // wait for processing through FSM
+ if (wait_event_interruptible(master->request_queue,
+ request.state != EC_INT_REQUEST_QUEUED)) {
+ // interrupted by signal
+ down(&master->master_sem);
+ if (request.state == EC_INT_REQUEST_QUEUED) {
+ list_del(&request.list);
+ up(&master->master_sem);
+ ec_foe_request_clear(&request);
+ return -EINTR;
+ }
+ // request already processing: interrupt not possible.
+ up(&master->master_sem);
+ }
+
+ // wait until master FSM has finished processing
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
+
+ io.result = request.result;
+ io.error_code = request.error_code;
+
+ if (request.state != EC_INT_REQUEST_SUCCESS) {
+ io.data_size = 0;
+ ret = -EIO;
+ } else {
+ if (request.data_size > io.buffer_size) {
+ EC_MASTER_ERR(master, "Buffer too small.\n");
+ ec_foe_request_clear(&request);
+ return -EOVERFLOW;
+ }
+ io.data_size = request.data_size;
+ if (copy_to_user((void __user *) io.buffer,
+ request.buffer, io.data_size)) {
+ ec_foe_request_clear(&request);
+ return -EFAULT;
+ }
+ ret = 0;
+ }
+
+ if (__copy_to_user((void __user *) arg, &io, sizeof(io))) {
+ ret = -EFAULT;
+ }
+
+ ec_foe_request_clear(&request);
+ return ret;
+}
+
+/*****************************************************************************/
+
+/** Write a file to a slave via FoE
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_slave_foe_write(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg /**< ioctl() argument. */
+ )
+{
+ ec_ioctl_slave_foe_t io;
+ ec_foe_request_t request;
+ ec_slave_t *slave;
+ int ret;
+
+ if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
+ return -EFAULT;
+ }
+
+ ec_foe_request_init(&request, io.file_name);
+
+ ret = ec_foe_request_alloc(&request, io.buffer_size);
+ if (ret) {
+ ec_foe_request_clear(&request);
+ return ret;
+ }
+
+ if (copy_from_user(request.buffer,
+ (void __user *) io.buffer, io.buffer_size)) {
+ ec_foe_request_clear(&request);
+ return -EFAULT;
+ }
+
+ request.data_size = io.buffer_size;
+ ec_foe_request_write(&request);
+
+ if (down_interruptible(&master->master_sem)) {
+ ec_foe_request_clear(&request);
+ return -EINTR;
+ }
+
+ if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) {
+ up(&master->master_sem);
+ EC_MASTER_ERR(master, "Slave %u does not exist!\n",
+ io.slave_position);
+ ec_foe_request_clear(&request);
+ return -EINVAL;
+ }
+
+ EC_SLAVE_DBG(slave, 1, "Scheduling FoE write request.\n");
+
+ // schedule FoE write request.
+ list_add_tail(&request.list, &slave->foe_requests);
+
+ up(&master->master_sem);
+
+ // wait for processing through FSM
+ if (wait_event_interruptible(master->request_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);
+ ec_foe_request_clear(&request);
+ return -EINTR;
+ }
+ up(&master->master_sem);
+ }
+
+ // wait until master FSM has finished processing
+ wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
+
+ io.result = request.result;
+ io.error_code = request.error_code;
+
+ ret = request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
+
+ if (__copy_to_user((void __user *) arg, &io, sizeof(io))) {
+ ret = -EFAULT;
+ }
+
+ ec_foe_request_clear(&request);
+ return ret;
+}
+
+/*****************************************************************************/
+
+/** Read an SoE IDN.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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 %zu 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.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES 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;
+}
+
+/*****************************************************************************/
+
+/** ioctl() function to use.
+ */
+#ifdef EC_IOCTL_RTDM
+#define EC_IOCTL ec_ioctl_rtdm
+#else
+#define EC_IOCTL ec_ioctl
+#endif
+
+/** Called when an ioctl() command is issued.
+ *
+ * \return ioctl() return code.
+ */
+long EC_IOCTL(
+ ec_master_t *master, /**< EtherCAT master. */
+ ec_ioctl_context_t *ctx, /**< Device context. */
+ unsigned int cmd, /**< ioctl() command identifier. */
+ void *arg /**< ioctl() argument. */
+ )
+{
+#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_SELECT_REF_CLOCK:
+ if (!ctx->writable) {
+ ret = -EPERM;
+ break;
+ }
+ ret = ec_ioctl_select_ref_clock(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_REF_CLOCK_TIME:
+ if (!ctx->writable) {
+ ret = -EPERM;
+ break;
+ }
+ ret = ec_ioctl_ref_clock_time(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_REG_PDO_POS:
+ if (!ctx->writable) {
+ ret = -EPERM;
+ break;
+ }
+ ret = ec_ioctl_sc_reg_pdo_pos(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_EMERG_SIZE:
+ if (!ctx->writable) {
+ ret = -EPERM;
+ break;
+ }
+ ret = ec_ioctl_sc_emerg_size(master, arg, ctx);
+ break;
+ case EC_IOCTL_SC_EMERG_POP:
+ if (!ctx->writable) {
+ ret = -EPERM;
+ break;
+ }
+ ret = ec_ioctl_sc_emerg_pop(master, arg, ctx);
+ break;
+ case EC_IOCTL_SC_EMERG_CLEAR:
+ if (!ctx->writable) {
+ ret = -EPERM;
+ break;
+ }
+ ret = ec_ioctl_sc_emerg_clear(master, arg, ctx);
+ break;
+ case EC_IOCTL_SC_EMERG_OVERRUNS:
+ ret = ec_ioctl_sc_emerg_overruns(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_REG_REQUEST:
+ if (!ctx->writable) {
+ ret = -EPERM;
+ break;
+ }
+ ret = ec_ioctl_sc_create_reg_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_SIZE:
+ ret = ec_ioctl_domain_size(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_INDEX:
+ if (!ctx->writable) {
+ ret = -EPERM;
+ break;
+ }
+ ret = ec_ioctl_sdo_request_index(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_REG_REQUEST_DATA:
+ ret = ec_ioctl_reg_request_data(master, arg, ctx);
+ break;
+ case EC_IOCTL_REG_REQUEST_STATE:
+ ret = ec_ioctl_reg_request_state(master, arg, ctx);
+ break;
+ case EC_IOCTL_REG_REQUEST_WRITE:
+ if (!ctx->writable) {
+ ret = -EPERM;
+ break;
+ }
+ ret = ec_ioctl_reg_request_write(master, arg, ctx);
+ break;
+ case EC_IOCTL_REG_REQUEST_READ:
+ if (!ctx->writable) {
+ ret = -EPERM;
+ break;
+ }
+ ret = ec_ioctl_reg_request_read(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;
+}
+
+/*****************************************************************************/