Internal SDO requests now synchronized with external requests.
Internal SDO requests are managed by master FSM and can conflict with
external requests managed by slave FSM. The internal SDO requests
includes SDO requests created by an application and external request are
typical created by EtherCAT Tool for SDO upload/download or a directory
fetch initiated with ethercat sdos command. The conflict will cause a
FPWR from an external request to be overwritten by a FPWR from an
internal SDO request (or oppersite) in the same "train" of datagrams.
/*****************************************************************************
*
* $Id$
*
* Copyright (C) 2009-2010 Moehwald GmbH B. Benner
* 2011 IgH Andreas Stewering-Bone
* 2012 Florian Pose <fp@igh-essen.com>
*
* 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; version 2 of the License.
*
* 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, see <http://www.gnu.org/licenses/>.
*
* 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
* RTDM interface.
*/
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/mman.h>
#include <rtdm/rtdm_driver.h>
#include "master.h"
#include "ioctl.h"
#include "rtdm.h"
/** Set to 1 to enable device operations debugging.
*/
#define DEBUG 0
/****************************************************************************/
/** Context structure for an open RTDM file handle.
*/
typedef struct {
rtdm_user_info_t *user_info; /**< RTDM user data. */
ec_ioctl_context_t ioctl_ctx; /**< Context structure. */
} ec_rtdm_context_t;
/****************************************************************************/
int ec_rtdm_open(struct rtdm_dev_context *, rtdm_user_info_t *, int);
int ec_rtdm_close(struct rtdm_dev_context *, rtdm_user_info_t *);
int ec_rtdm_ioctl(struct rtdm_dev_context *, rtdm_user_info_t *,
unsigned int, void __user *);
/****************************************************************************/
/** Initialize an RTDM device.
*
* \return Zero on success, otherwise a negative error code.
*/
int ec_rtdm_dev_init(
ec_rtdm_dev_t *rtdm_dev, /**< EtherCAT RTDM device. */
ec_master_t *master /**< EtherCAT master. */
)
{
int ret;
rtdm_dev->master = master;
rtdm_dev->dev = kzalloc(sizeof(struct rtdm_device), GFP_KERNEL);
if (!rtdm_dev->dev) {
EC_MASTER_ERR(master, "Failed to reserve memory for RTDM device.\n");
return -ENOMEM;
}
rtdm_dev->dev->struct_version = RTDM_DEVICE_STRUCT_VER;
rtdm_dev->dev->device_flags = RTDM_NAMED_DEVICE;
rtdm_dev->dev->context_size = sizeof(ec_rtdm_context_t);
snprintf(rtdm_dev->dev->device_name, RTDM_MAX_DEVNAME_LEN,
"EtherCAT%u", master->index);
rtdm_dev->dev->open_nrt = ec_rtdm_open;
rtdm_dev->dev->ops.close_nrt = ec_rtdm_close;
rtdm_dev->dev->ops.ioctl_rt = ec_rtdm_ioctl;
rtdm_dev->dev->ops.ioctl_nrt = ec_rtdm_ioctl;
rtdm_dev->dev->device_class = RTDM_CLASS_EXPERIMENTAL;
rtdm_dev->dev->device_sub_class = 222;
rtdm_dev->dev->driver_name = "EtherCAT";
rtdm_dev->dev->driver_version = RTDM_DRIVER_VER(1, 0, 2);
rtdm_dev->dev->peripheral_name = rtdm_dev->dev->device_name;
rtdm_dev->dev->provider_name = "EtherLab Community";
rtdm_dev->dev->proc_name = rtdm_dev->dev->device_name;
rtdm_dev->dev->device_data = rtdm_dev; /* pointer to parent */
EC_MASTER_INFO(master, "Registering RTDM device %s.\n",
rtdm_dev->dev->driver_name);
ret = rtdm_dev_register(rtdm_dev->dev);
if (ret) {
EC_MASTER_ERR(master, "Initialization of RTDM interface failed"
" (return value %i).\n", ret);
kfree(rtdm_dev->dev);
}
return ret;
}
/****************************************************************************/
/** Clear an RTDM device.
*/
void ec_rtdm_dev_clear(
ec_rtdm_dev_t *rtdm_dev /**< EtherCAT RTDM device. */
)
{
int ret;
EC_MASTER_INFO(rtdm_dev->master, "Unregistering RTDM device %s.\n",
rtdm_dev->dev->driver_name);
ret = rtdm_dev_unregister(rtdm_dev->dev, 1000 /* poll delay [ms] */);
if (ret < 0) {
EC_MASTER_WARN(rtdm_dev->master,
"Failed to unregister RTDM device (code %i).\n", ret);
}
kfree(rtdm_dev->dev);
}
/****************************************************************************/
/** Driver open.
*
* \return Always zero (success).
*/
int ec_rtdm_open(
struct rtdm_dev_context *context, /**< Context. */
rtdm_user_info_t *user_info, /**< User data. */
int oflags /**< Open flags. */
)
{
ec_rtdm_context_t *ctx = (ec_rtdm_context_t *) context->dev_private;
#if DEBUG
ec_rtdm_dev_t *rtdm_dev = (ec_rtdm_dev_t *) context->device->device_data;
#endif
ctx->user_info = user_info;
ctx->ioctl_ctx.writable = oflags & O_WRONLY || oflags & O_RDWR;
ctx->ioctl_ctx.requested = 0;
ctx->ioctl_ctx.process_data = NULL;
ctx->ioctl_ctx.process_data_size = 0;
#if DEBUG
EC_MASTER_INFO(rtdm_dev->master, "RTDM device %s opened.\n",
context->device->device_name);
#endif
return 0;
}
/****************************************************************************/
/** Driver close.
*
* \return Always zero (success).
*/
int ec_rtdm_close(
struct rtdm_dev_context *context, /**< Context. */
rtdm_user_info_t *user_info /**< User data. */
)
{
ec_rtdm_context_t *ctx = (ec_rtdm_context_t *) context->dev_private;
ec_rtdm_dev_t *rtdm_dev = (ec_rtdm_dev_t *) context->device->device_data;
if (ctx->ioctl_ctx.requested) {
ecrt_release_master(rtdm_dev->master);
}
#if DEBUG
EC_MASTER_INFO(rtdm_dev->master, "RTDM device %s closed.\n",
context->device->device_name);
#endif
return 0;
}
/****************************************************************************/
/** Driver ioctl.
*
* \return ioctl() return code.
*/
int ec_rtdm_ioctl(
struct rtdm_dev_context *context, /**< Context. */
rtdm_user_info_t *user_info, /**< User data. */
unsigned int request, /**< Request. */
void __user *arg /**< Argument. */
)
{
ec_rtdm_context_t *ctx = (ec_rtdm_context_t *) context->dev_private;
ec_rtdm_dev_t *rtdm_dev = (ec_rtdm_dev_t *) context->device->device_data;
#if DEBUG
EC_MASTER_INFO(rtdm_dev->master, "ioctl(request = %u, ctl = %02x)"
" on RTDM device %s.\n", request, _IOC_NR(request),
context->device->device_name);
#endif
return ec_ioctl_rtdm(rtdm_dev->master, &ctx->ioctl_ctx, request, arg);
}
/****************************************************************************/
/** Memory-map process data to user space.
*
* \return Zero on success, otherwise a negative error code.
*/
int ec_rtdm_mmap(
ec_ioctl_context_t *ioctl_ctx, /**< Context. */
void **user_address /**< Userspace address. */
)
{
ec_rtdm_context_t *ctx =
container_of(ioctl_ctx, ec_rtdm_context_t, ioctl_ctx);
int ret;
ret = rtdm_mmap_to_user(ctx->user_info,
ioctl_ctx->process_data, ioctl_ctx->process_data_size,
PROT_READ | PROT_WRITE,
user_address,
NULL, NULL);
if (ret < 0) {
return ret;
}
return 0;
}
/****************************************************************************/