/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 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
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* 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 right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT master character device.
*/
/*****************************************************************************/
#include <linux/module.h>
#include "cdev.h"
#include "master.h"
#include "slave_config.h"
#include "ioctl.h"
/*****************************************************************************/
/** \cond */
int eccdev_open(struct inode *, struct file *);
int eccdev_release(struct inode *, struct file *);
long eccdev_ioctl(struct file *, unsigned int, unsigned long);
/*****************************************************************************/
static struct file_operations eccdev_fops = {
.owner = THIS_MODULE,
.open = eccdev_open,
.release = eccdev_release,
.unlocked_ioctl = eccdev_ioctl
};
/** \endcond */
/*****************************************************************************/
/** Private data structure for file handles.
*/
typedef struct {
ec_cdev_t *cdev;
unsigned int requested;
} ec_cdev_priv_t;
/*****************************************************************************/
/** Constructor.
*
* \return 0 in case of success, else < 0
*/
int ec_cdev_init(
ec_cdev_t *cdev, /**< EtherCAT master character device. */
ec_master_t *master, /**< Parent master. */
dev_t dev_num /**< Device number. */
)
{
cdev->master = master;
cdev_init(&cdev->cdev, &eccdev_fops);
cdev->cdev.owner = THIS_MODULE;
if (cdev_add(&cdev->cdev,
MKDEV(MAJOR(dev_num), master->index), 1)) {
EC_ERR("Failed to add character device!\n");
return -1;
}
return 0;
}
/*****************************************************************************/
/** Destructor.
*/
void ec_cdev_clear(ec_cdev_t *cdev /**< EtherCAT XML device */)
{
cdev_del(&cdev->cdev);
}
/*****************************************************************************/
/** Copies a string to an ioctl structure.
*/
void ec_cdev_strcpy(
char *target, /**< Target. */
const char *source /**< Source. */
)
{
if (source) {
strncpy(target, source, EC_IOCTL_STRING_SIZE);
target[EC_IOCTL_STRING_SIZE - 1] = 0;
} else {
target[0] = 0;
}
}
/*****************************************************************************/
/** Get master information.
*/
int ec_cdev_ioctl_master(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< Userspace address to store the results. */
)
{
ec_ioctl_master_t data;
if (down_interruptible(&master->master_sem))
return -EINTR;
data.slave_count = master->slave_count;
data.config_count = ec_master_config_count(master);
data.domain_count = ec_master_domain_count(master);
data.phase = (uint8_t) master->phase;
up(&master->master_sem);
if (down_interruptible(&master->device_sem))
return -EINTR;
if (master->main_device.dev) {
memcpy(data.devices[0].address,
master->main_device.dev->dev_addr, ETH_ALEN);
} else {
memcpy(data.devices[0].address, master->main_mac, ETH_ALEN);
}
data.devices[0].attached = master->main_device.dev ? 1 : 0;
data.devices[0].tx_count = master->main_device.tx_count;
data.devices[0].rx_count = master->main_device.rx_count;
if (master->backup_device.dev) {
memcpy(data.devices[1].address,
master->backup_device.dev->dev_addr, ETH_ALEN);
} else {
memcpy(data.devices[1].address, master->backup_mac, ETH_ALEN);
}
data.devices[1].attached = master->backup_device.dev ? 1 : 0;
data.devices[1].tx_count = master->backup_device.tx_count;
data.devices[1].rx_count = master->backup_device.rx_count;
up(&master->device_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Get slave information.
*/
int ec_cdev_ioctl_slave(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< Userspace address to store the results. */
)
{
ec_ioctl_slave_t data;
const ec_slave_t *slave;
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_ERR("Slave %u does not exist!\n", data.position);
return -EINVAL;
}
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->sii.alias;
data.rx_mailbox_offset = slave->sii.rx_mailbox_offset;
data.rx_mailbox_size = slave->sii.rx_mailbox_size;
data.tx_mailbox_offset = slave->sii.tx_mailbox_offset;
data.tx_mailbox_size = slave->sii.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;
data.al_state = slave->current_state;
data.error_flag = slave->error_flag;
data.sync_count = slave->sii.sync_count;
data.sdo_count = ec_slave_sdo_count(slave);
data.sii_nwords = slave->sii_nwords;
ec_cdev_strcpy(data.group, slave->sii.group);
ec_cdev_strcpy(data.image, slave->sii.image);
ec_cdev_strcpy(data.order, slave->sii.order);
ec_cdev_strcpy(data.name, slave->sii.name);
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Get slave sync manager information.
*/
int ec_cdev_ioctl_slave_sync(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< Userspace address to store the results. */
)
{
ec_ioctl_slave_sync_t data;
const ec_slave_t *slave;
const ec_sync_t *sync;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(slave = ec_master_find_slave_const(
master, 0, data.slave_position))) {
up(&master->master_sem);
EC_ERR("Slave %u does not exist!\n", data.slave_position);
return -EINVAL;
}
if (data.sync_index >= slave->sii.sync_count) {
up(&master->master_sem);
EC_ERR("Sync manager %u does not exist in slave %u!\n",
data.sync_index, data.slave_position);
return -EINVAL;
}
sync = &slave->sii.syncs[data.sync_index];
data.physical_start_address = sync->physical_start_address;
data.default_size = sync->default_length;
data.control_register = sync->control_register;
data.enable = sync->enable;
data.pdo_count = ec_pdo_list_count(&sync->pdos);
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Get slave sync manager Pdo information.
*/
int ec_cdev_ioctl_slave_sync_pdo(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< Userspace address to store the results. */
)
{
ec_ioctl_slave_sync_pdo_t data;
const ec_slave_t *slave;
const ec_sync_t *sync;
const ec_pdo_t *pdo;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(slave = ec_master_find_slave_const(
master, 0, data.slave_position))) {
up(&master->master_sem);
EC_ERR("Slave %u does not exist!\n", data.slave_position);
return -EINVAL;
}
if (data.sync_index >= slave->sii.sync_count) {
up(&master->master_sem);
EC_ERR("Sync manager %u does not exist in slave %u!\n",
data.sync_index, data.slave_position);
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_ERR("Sync manager %u does not contain a Pdo with "
"position %u in slave %u!\n", data.sync_index,
data.pdo_pos, data.slave_position);
return -EINVAL;
}
data.index = pdo->index;
data.entry_count = ec_pdo_entry_count(pdo);
ec_cdev_strcpy(data.name, pdo->name);
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Get slave sync manager Pdo entry information.
*/
int ec_cdev_ioctl_slave_sync_pdo_entry(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< Userspace address to store the results. */
)
{
ec_ioctl_slave_sync_pdo_entry_t data;
const ec_slave_t *slave;
const ec_sync_t *sync;
const ec_pdo_t *pdo;
const ec_pdo_entry_t *entry;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(slave = ec_master_find_slave_const(
master, 0, data.slave_position))) {
up(&master->master_sem);
EC_ERR("Slave %u does not exist!\n", data.slave_position);
return -EINVAL;
}
if (data.sync_index >= slave->sii.sync_count) {
up(&master->master_sem);
EC_ERR("Sync manager %u does not exist in slave %u!\n",
data.sync_index, data.slave_position);
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_ERR("Sync manager %u does not contain a Pdo with "
"position %u in slave %u!\n", data.sync_index,
data.pdo_pos, data.slave_position);
return -EINVAL;
}
if (!(entry = ec_pdo_find_entry_by_pos_const(
pdo, data.entry_pos))) {
up(&master->master_sem);
EC_ERR("Pdo 0x%04X does not contain an entry with "
"position %u in slave %u!\n", data.pdo_pos,
data.entry_pos, data.slave_position);
return -EINVAL;
}
data.index = entry->index;
data.subindex = entry->subindex;
data.bit_length = entry->bit_length;
ec_cdev_strcpy(data.name, entry->name);
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Get domain information.
*/
int ec_cdev_ioctl_domain(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< Userspace address to store the results. */
)
{
ec_ioctl_domain_t data;
const ec_domain_t *domain;
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_ERR("Domain %u does not exist!\n", data.index);
return -EINVAL;
}
data.data_size = domain->data_size;
data.logical_base_address = domain->logical_base_address;
data.working_counter = domain->working_counter;
data.expected_working_counter = domain->expected_working_counter;
data.fmmu_count = ec_domain_fmmu_count(domain);
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Get domain FMMU information.
*/
int ec_cdev_ioctl_domain_fmmu(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< Userspace address to store the results. */
)
{
ec_ioctl_domain_fmmu_t data;
const ec_domain_t *domain;
const ec_fmmu_config_t *fmmu;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
up(&master->master_sem);
EC_ERR("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_ERR("Domain %u has less than %u fmmu configurations.\n",
data.domain_index, data.fmmu_index + 1);
return -EINVAL;
}
data.slave_config_alias = fmmu->sc->alias;
data.slave_config_position = fmmu->sc->position;
data.sync_index = fmmu->sync_index;
data.dir = fmmu->dir;
data.logical_address = fmmu->logical_start_address;
data.data_size = fmmu->data_size;
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Get domain data.
*/
int ec_cdev_ioctl_domain_data(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< Userspace address to store the results. */
)
{
ec_ioctl_domain_data_t data;
const ec_domain_t *domain;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
up(&master->master_sem);
EC_ERR("Domain %u does not exist!\n", data.domain_index);
return -EINVAL;
}
if (domain->data_size != data.data_size) {
up(&master->master_sem);
EC_ERR("Data size mismatch %u/%u!\n",
data.data_size, domain->data_size);
return -EFAULT;
}
if (copy_to_user((void __user *) data.target, domain->data,
domain->data_size)) {
up(&master->master_sem);
return -EFAULT;
}
up(&master->master_sem);
return 0;
}
/*****************************************************************************/
/** Set master debug level.
*/
int ec_cdev_ioctl_master_debug(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
if (ec_master_debug_level(master, (unsigned int) arg))
return -EINVAL;
return 0;
}
/*****************************************************************************/
/** Set slave state.
*/
int ec_cdev_ioctl_slave_state(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_slave_state_t data;
ec_slave_t *slave;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(slave = ec_master_find_slave(
master, 0, data.slave_position))) {
up(&master->master_sem);
EC_ERR("Slave %u does not exist!\n", data.slave_position);
return -EINVAL;
}
ec_slave_request_state(slave, data.al_state);
up(&master->master_sem);
return 0;
}
/*****************************************************************************/
/** Get slave Sdo information.
*/
int ec_cdev_ioctl_slave_sdo(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_slave_sdo_t data;
const ec_slave_t *slave;
const ec_sdo_t *sdo;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(slave = ec_master_find_slave_const(
master, 0, data.slave_position))) {
up(&master->master_sem);
EC_ERR("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_ERR("Sdo %u does not exist in slave %u!\n",
data.sdo_position, data.slave_position);
return -EINVAL;
}
data.sdo_index = sdo->index;
data.max_subindex = sdo->max_subindex;
ec_cdev_strcpy(data.name, sdo->name);
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Get slave Sdo entry information.
*/
int ec_cdev_ioctl_slave_sdo_entry(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_slave_sdo_entry_t data;
const ec_slave_t *slave;
const ec_sdo_t *sdo;
const ec_sdo_entry_t *entry;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(slave = ec_master_find_slave_const(
master, 0, data.slave_position))) {
up(&master->master_sem);
EC_ERR("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_ERR("Sdo %u does not exist in slave %u!\n",
-data.sdo_spec, data.slave_position);
return -EINVAL;
}
} else {
if (!(sdo = ec_slave_get_sdo_const(
slave, data.sdo_spec))) {
up(&master->master_sem);
EC_ERR("Sdo 0x%04X does not exist in slave %u!\n",
data.sdo_spec, data.slave_position);
return -EINVAL;
}
}
if (!(entry = ec_sdo_get_entry_const(
sdo, data.sdo_entry_subindex))) {
up(&master->master_sem);
EC_ERR("Sdo entry 0x%04X:%02X does not exist "
"in slave %u!\n", sdo->index,
data.sdo_entry_subindex, data.slave_position);
return -EINVAL;
}
data.data_type = entry->data_type;
data.bit_length = entry->bit_length;
ec_cdev_strcpy(data.description, entry->description);
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Upload Sdo.
*/
int ec_cdev_ioctl_slave_sdo_upload(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_slave_sdo_upload_t data;
ec_master_sdo_request_t request;
int retval;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
ec_sdo_request_init(&request.req);
ec_sdo_request_address(&request.req,
data.sdo_index, data.sdo_entry_subindex);
ecrt_sdo_request_read(&request.req);
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(request.slave = ec_master_find_slave(
master, 0, data.slave_position))) {
up(&master->master_sem);
ec_sdo_request_clear(&request.req);
EC_ERR("Slave %u does not exist!\n", data.slave_position);
return -EINVAL;
}
// schedule request.
list_add_tail(&request.list, &master->slave_sdo_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->sdo_queue,
request.req.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.req.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.req.list);
up(&master->master_sem);
ec_sdo_request_clear(&request.req);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(master->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
data.abort_code = request.req.abort_code;
if (request.req.state != EC_INT_REQUEST_SUCCESS) {
data.data_size = 0;
retval = -EIO;
} else {
if (request.req.data_size > data.target_size) {
EC_ERR("Buffer too small.\n");
ec_sdo_request_clear(&request.req);
return -EOVERFLOW;
}
data.data_size = request.req.data_size;
if (copy_to_user((void __user *) data.target,
request.req.data, data.data_size)) {
ec_sdo_request_clear(&request.req);
return -EFAULT;
}
retval = 0;
}
if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
retval = -EFAULT;
}
ec_sdo_request_clear(&request.req);
return retval;
}
/*****************************************************************************/
/** Download Sdo.
*/
int ec_cdev_ioctl_slave_sdo_download(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_slave_sdo_download_t data;
ec_master_sdo_request_t request;
int retval;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
// copy data to download
if (!data.data_size) {
EC_ERR("Zero data size!\n");
return -EINVAL;
}
ec_sdo_request_init(&request.req);
ec_sdo_request_address(&request.req,
data.sdo_index, data.sdo_entry_subindex);
if (ec_sdo_request_alloc(&request.req, data.data_size)) {
ec_sdo_request_clear(&request.req);
return -ENOMEM;
}
if (copy_from_user(request.req.data,
(void __user *) data.data, data.data_size)) {
ec_sdo_request_clear(&request.req);
return -EFAULT;
}
request.req.data_size = data.data_size;
ecrt_sdo_request_write(&request.req);
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(request.slave = ec_master_find_slave(
master, 0, data.slave_position))) {
up(&master->master_sem);
EC_ERR("Slave %u does not exist!\n", data.slave_position);
ec_sdo_request_clear(&request.req);
return -EINVAL;
}
// schedule request.
list_add_tail(&request.list, &master->slave_sdo_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->sdo_queue,
request.req.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.req.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.req.list);
up(&master->master_sem);
ec_sdo_request_clear(&request.req);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(master->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
data.abort_code = request.req.abort_code;
retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
retval = -EFAULT;
}
ec_sdo_request_clear(&request.req);
return retval;
}
/*****************************************************************************/
/** Read a slave's SII.
*/
int ec_cdev_ioctl_slave_sii_read(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_slave_sii_t data;
const ec_slave_t *slave;
int retval;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(slave = ec_master_find_slave_const(
master, 0, data.slave_position))) {
up(&master->master_sem);
EC_ERR("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_ERR("Invalid SII read offset/size %u/%u for slave "
"SII size %u!\n", data.offset,
data.nwords, slave->sii_nwords);
return -EINVAL;
}
if (copy_to_user((void __user *) data.words,
slave->sii_words + data.offset, data.nwords * 2))
retval = -EFAULT;
else
retval = 0;
up(&master->master_sem);
return retval;
}
/*****************************************************************************/
/** Write a slave's SII.
*/
int ec_cdev_ioctl_slave_sii_write(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_slave_sii_t data;
ec_slave_t *slave;
unsigned int byte_size;
uint16_t *words;
ec_sii_write_request_t request;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (!data.nwords)
return 0;
byte_size = sizeof(uint16_t) * data.nwords;
if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
EC_ERR("Failed to allocate %u bytes for SII contents.\n",
byte_size);
return -ENOMEM;
}
if (copy_from_user(words,
(void __user *) data.words, byte_size)) {
kfree(words);
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(slave = ec_master_find_slave(
master, 0, data.slave_position))) {
up(&master->master_sem);
EC_ERR("Slave %u does not exist!\n", data.slave_position);
kfree(words);
return -EINVAL;
}
// init SII write request
INIT_LIST_HEAD(&request.list);
request.slave = slave;
request.words = words;
request.offset = data.offset;
request.nwords = data.nwords;
request.state = EC_INT_REQUEST_QUEUED;
// schedule SII write request.
list_add_tail(&request.list, &master->sii_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->sii_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.state == EC_INT_REQUEST_QUEUED) {
// abort request
list_del(&request.list);
up(&master->master_sem);
kfree(words);
return -EINTR;
}
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(master->sii_queue, request.state != EC_INT_REQUEST_BUSY);
kfree(words);
return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
}
/*****************************************************************************/
/** Read a slave's physical memory.
*/
int ec_cdev_ioctl_slave_phy_read(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_slave_phy_t data;
ec_slave_t *slave;
uint8_t *contents;
ec_phy_request_t request;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (!data.length)
return 0;
if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
EC_ERR("Failed to allocate %u bytes for phy data.\n", data.length);
return -ENOMEM;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(slave = ec_master_find_slave(
master, 0, data.slave_position))) {
up(&master->master_sem);
EC_ERR("Slave %u does not exist!\n", data.slave_position);
return -EINVAL;
}
// init phy request
INIT_LIST_HEAD(&request.list);
request.slave = slave;
request.dir = EC_DIR_INPUT;
request.data = contents;
request.offset = data.offset;
request.length = data.length;
request.state = EC_INT_REQUEST_QUEUED;
// schedule request.
list_add_tail(&request.list, &master->phy_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->phy_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.state == EC_INT_REQUEST_QUEUED) {
// abort request
list_del(&request.list);
up(&master->master_sem);
kfree(contents);
return -EINTR;
}
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(master->phy_queue, request.state != EC_INT_REQUEST_BUSY);
if (request.state == EC_INT_REQUEST_SUCCESS) {
if (copy_to_user((void __user *) data.data, contents, data.length))
return -EFAULT;
}
kfree(contents);
return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
}
/*****************************************************************************/
/** Write a slave's physical memory.
*/
int ec_cdev_ioctl_slave_phy_write(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_slave_phy_t data;
ec_slave_t *slave;
uint8_t *contents;
ec_phy_request_t request;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (!data.length)
return 0;
if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
EC_ERR("Failed to allocate %u bytes for phy data.\n", data.length);
return -ENOMEM;
}
if (copy_from_user(contents, (void __user *) data.data, data.length)) {
kfree(contents);
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(slave = ec_master_find_slave(
master, 0, data.slave_position))) {
up(&master->master_sem);
EC_ERR("Slave %u does not exist!\n", data.slave_position);
kfree(contents);
return -EINVAL;
}
// init phy request
INIT_LIST_HEAD(&request.list);
request.slave = slave;
request.dir = EC_DIR_OUTPUT;
request.data = contents;
request.offset = data.offset;
request.length = data.length;
request.state = EC_INT_REQUEST_QUEUED;
// schedule request.
list_add_tail(&request.list, &master->phy_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->phy_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.state == EC_INT_REQUEST_QUEUED) {
// abort request
list_del(&request.list);
up(&master->master_sem);
kfree(contents);
return -EINTR;
}
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(master->phy_queue, request.state != EC_INT_REQUEST_BUSY);
kfree(contents);
return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
}
/*****************************************************************************/
/** Get slave configuration information.
*/
int ec_cdev_ioctl_config(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_config_t data;
const ec_slave_config_t *sc;
uint8_t i;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(sc = ec_master_get_config_const(
master, data.config_index))) {
up(&master->master_sem);
EC_ERR("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].pdo_count =
ec_pdo_list_count(&sc->sync_configs[i].pdos);
}
data.sdo_count = ec_slave_config_sdo_count(sc);
data.slave_position = sc->slave ? sc->slave->ring_position : -1;
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Get slave configuration Pdo information.
*/
int ec_cdev_ioctl_config_pdo(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_config_pdo_t data;
const ec_slave_config_t *sc;
const ec_pdo_t *pdo;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
EC_ERR("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_ERR("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_ERR("Invalid Pdo position!\n");
return -EINVAL;
}
data.index = pdo->index;
data.entry_count = ec_pdo_entry_count(pdo);
ec_cdev_strcpy(data.name, pdo->name);
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Get slave configuration Pdo entry information.
*/
int ec_cdev_ioctl_config_pdo_entry(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_config_pdo_entry_t data;
const ec_slave_config_t *sc;
const ec_pdo_t *pdo;
const ec_pdo_entry_t *entry;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
EC_ERR("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_ERR("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_ERR("Invalid Pdo position!\n");
return -EINVAL;
}
if (!(entry = ec_pdo_find_entry_by_pos_const(
pdo, data.entry_pos))) {
up(&master->master_sem);
EC_ERR("Entry not found!\n");
return -EINVAL;
}
data.index = entry->index;
data.subindex = entry->subindex;
data.bit_length = entry->bit_length;
ec_cdev_strcpy(data.name, entry->name);
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Get slave configuration Sdo information.
*/
int ec_cdev_ioctl_config_sdo(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_config_sdo_t data;
const ec_slave_config_t *sc;
const ec_sdo_request_t *req;
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_ERR("Slave config %u does not exist!\n",
data.config_index);
return -EINVAL;
}
if (!(req = ec_slave_config_get_sdo_by_pos_const(
sc, data.sdo_pos))) {
up(&master->master_sem);
EC_ERR("Invalid Sdo position!\n");
return -EINVAL;
}
data.index = req->index;
data.subindex = req->subindex;
data.size = req->data_size;
memcpy(&data.data, req->data, min((u32) data.size, (u32) 4));
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Request the master from userspace.
*/
int ec_cdev_ioctl_request(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
ec_ioctl_request_t data;
int ret = 0;
data.handle = ecrt_request_master(master->index);
if (IS_ERR(data.handle)) {
ret = PTR_ERR(data.handle);
} else {
priv->requested = 1;
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ret = -EFAULT;
}
return ret;
}
/******************************************************************************
* File operations
*****************************************************************************/
/** Called when the cdev is opened.
*/
int eccdev_open(struct inode *inode, struct file *filp)
{
ec_cdev_t *cdev = container_of(inode->i_cdev, ec_cdev_t, cdev);
ec_master_t *master = cdev->master;
ec_cdev_priv_t *priv;
priv = kmalloc(sizeof(ec_cdev_priv_t), GFP_KERNEL);
if (!priv) {
EC_ERR("Failed to allocate memory for private data structure.\n");
return -ENOMEM;
}
priv->cdev = cdev;
priv->requested = 0;
filp->private_data = priv;
if (master->debug_level)
EC_DBG("File opened.\n");
return 0;
}
/*****************************************************************************/
/** Called when the cdev is closed.
*/
int eccdev_release(struct inode *inode, struct file *filp)
{
ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
ec_master_t *master = priv->cdev->master;
if (priv->requested)
ecrt_release_master(master);
if (master->debug_level)
EC_DBG("File closed.\n");
kfree(priv);
return 0;
}
/*****************************************************************************/
/** Called when an ioctl() command is issued.
*/
long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
{
ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
ec_master_t *master = priv->cdev->master;
if (master->debug_level)
EC_DBG("ioctl(filp = %x, cmd = %u (%u), arg = %x)\n",
(u32) filp, (u32) cmd, (u32) _IOC_NR(cmd), (u32) arg);
switch (cmd) {
case EC_IOCTL_MASTER:
return ec_cdev_ioctl_master(master, arg);
case EC_IOCTL_SLAVE:
return ec_cdev_ioctl_slave(master, arg);
case EC_IOCTL_SLAVE_SYNC:
return ec_cdev_ioctl_slave_sync(master, arg);
case EC_IOCTL_SLAVE_SYNC_PDO:
return ec_cdev_ioctl_slave_sync_pdo(master, arg);
case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
return ec_cdev_ioctl_slave_sync_pdo_entry(master, arg);
case EC_IOCTL_DOMAIN:
return ec_cdev_ioctl_domain(master, arg);
case EC_IOCTL_DOMAIN_FMMU:
return ec_cdev_ioctl_domain_fmmu(master, arg);
case EC_IOCTL_DOMAIN_DATA:
return ec_cdev_ioctl_domain_data(master, arg);
case EC_IOCTL_MASTER_DEBUG:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_master_debug(master, arg);
case EC_IOCTL_SLAVE_STATE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_slave_state(master, arg);
case EC_IOCTL_SLAVE_SDO:
return ec_cdev_ioctl_slave_sdo(master, arg);
case EC_IOCTL_SLAVE_SDO_ENTRY:
return ec_cdev_ioctl_slave_sdo_entry(master, arg);
case EC_IOCTL_SLAVE_SDO_UPLOAD:
return ec_cdev_ioctl_slave_sdo_upload(master, arg);
case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_slave_sdo_download(master, arg);
case EC_IOCTL_SLAVE_SII_READ:
return ec_cdev_ioctl_slave_sii_read(master, arg);
case EC_IOCTL_SLAVE_SII_WRITE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_slave_sii_write(master, arg);
case EC_IOCTL_SLAVE_PHY_READ:
return ec_cdev_ioctl_slave_phy_read(master, arg);
case EC_IOCTL_SLAVE_PHY_WRITE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_slave_phy_write(master, arg);
case EC_IOCTL_CONFIG:
return ec_cdev_ioctl_config(master, arg);
case EC_IOCTL_CONFIG_PDO:
return ec_cdev_ioctl_config_pdo(master, arg);
case EC_IOCTL_CONFIG_PDO_ENTRY:
return ec_cdev_ioctl_config_pdo_entry(master, arg);
case EC_IOCTL_CONFIG_SDO:
return ec_cdev_ioctl_config_sdo(master, arg);
case EC_IOCTL_REQUEST:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_request(master, arg, priv);
default:
return -ENOTTY;
}
}
/*****************************************************************************/