/******************************************************************************
*
* $Id$
*
* 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
#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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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 (!(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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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
*/
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.
*/
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;
down(&master->io_sem);
ecrt_master_send(master);
up(&master->io_sem);
return 0;
}
/*****************************************************************************/
/** Receive frames.
*/
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;
down(&master->io_sem);
ecrt_master_receive(master);
up(&master->io_sem);
return 0;
}
/*****************************************************************************/
/** Get the master state.
*/
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 master state.
*/
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 app time.
*/
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.
*/
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;
down(&master->io_sem);
ecrt_master_sync_reference_clock(master);
up(&master->io_sem);
return 0;
}
/*****************************************************************************/
/** Sync the slave clocks.
*/
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;
down(&master->io_sem);
ecrt_master_sync_slave_clocks(master);
up(&master->io_sem);
return 0;
}
/*****************************************************************************/
/** Get the system time of the reference clock.
*/
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.
*/
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;
down(&master->io_sem);
ecrt_master_sync_monitor_queue(master);
up(&master->io_sem);
return 0;
}
/*****************************************************************************/
/** Processes the sync monitoring datagram.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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); /** \fixme sc could be invalidated */
return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index);
}
/*****************************************************************************/
/** Clears the PDO assignment.
*/
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); /** \fixme sc could be invalidated */
ecrt_slave_config_pdo_assign_clear(sc, data.sync_index);
return 0;
}
/*****************************************************************************/
/** Add an entry to a PDO's mapping.
*/
static 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); /** \fixme sc could be invalidated */
return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index,
data.entry_index, data.entry_subindex, data.entry_bit_length);
}
/*****************************************************************************/
/** Clears the mapping of a PDO.
*/
static 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); /** \fixme sc could be invalidated */
ecrt_slave_config_pdo_mapping_clear(sc, data.index);
return 0;
}
/*****************************************************************************/
/** Registers a PDO entry.
*/
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); /** \fixme sc or domain could be invalidated */
ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index,
data.entry_subindex, domain, &data.bit_position);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return ret;
}
/*****************************************************************************/
/** Sets the DC AssignActivate word and the sync signal times.
*/
static 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.
*/
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); /** \fixme sc could be invalidated */
if (data.complete_access) {
ret = ecrt_slave_config_complete_sdo(sc,
data.index, sdo_data, data.size);
} else {
ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data,
data.size);
}
kfree(sdo_data);
return ret;
}
/*****************************************************************************/
/** Set the emergency ring buffer size.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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); /** \fixme sc could be invalidated */
req = ecrt_slave_config_create_sdo_request_err(sc, data.sdo_index,
data.sdo_subindex, data.size);
if (IS_ERR(req))
return PTR_ERR(req);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Create a register request.
*/
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); /** \fixme 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.
*/
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); /** \fixme sc could be invalidated */
voe = ecrt_slave_config_create_voe_handler_err(sc, data.size);
if (IS_ERR(voe))
return PTR_ERR(voe);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Get the slave configuration's state.
*/
static 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.
*/
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); /** \fixme sc could be invalidated */
ret = ecrt_slave_config_idn(
sc, ioctl.drive_no, ioctl.idn, ioctl.al_state, data, ioctl.size);
kfree(data);
return ret;
}
/*****************************************************************************/
/** Gets the domain's offset in the total process data.
*/
static 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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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.
*/
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
*/
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.
*/
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.
*/
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;
}
/*****************************************************************************/
#ifdef EC_IOCTL_RTDM
#define EC_IOCTL ec_ioctl_rtdm
#else
#define EC_IOCTL ec_ioctl
#endif
/** Called when an ioctl() command is issued.
*/
long EC_IOCTL(ec_master_t *master, ec_ioctl_context_t *ctx,
unsigned int cmd, void *arg)
{
#if DEBUG_LATENCY
cycles_t a = get_cycles(), b;
unsigned int t;
#endif
int ret;
switch (cmd) {
case EC_IOCTL_MODULE:
ret = ec_ioctl_module(arg);
break;
case EC_IOCTL_MASTER:
ret = ec_ioctl_master(master, arg);
break;
case EC_IOCTL_SLAVE:
ret = ec_ioctl_slave(master, arg);
break;
case EC_IOCTL_SLAVE_SYNC:
ret = ec_ioctl_slave_sync(master, arg);
break;
case EC_IOCTL_SLAVE_SYNC_PDO:
ret = ec_ioctl_slave_sync_pdo(master, arg);
break;
case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
ret = ec_ioctl_slave_sync_pdo_entry(master, arg);
break;
case EC_IOCTL_DOMAIN:
ret = ec_ioctl_domain(master, arg);
break;
case EC_IOCTL_DOMAIN_FMMU:
ret = ec_ioctl_domain_fmmu(master, arg);
break;
case EC_IOCTL_DOMAIN_DATA:
ret = ec_ioctl_domain_data(master, arg);
break;
case EC_IOCTL_MASTER_DEBUG:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_master_debug(master, arg);
break;
case EC_IOCTL_MASTER_RESCAN:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_master_rescan(master, arg);
break;
case EC_IOCTL_SLAVE_STATE:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_slave_state(master, arg);
break;
case EC_IOCTL_SLAVE_SDO:
ret = ec_ioctl_slave_sdo(master, arg);
break;
case EC_IOCTL_SLAVE_SDO_ENTRY:
ret = ec_ioctl_slave_sdo_entry(master, arg);
break;
case EC_IOCTL_SLAVE_SDO_UPLOAD:
ret = ec_ioctl_slave_sdo_upload(master, arg);
break;
case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_slave_sdo_download(master, arg);
break;
case EC_IOCTL_SLAVE_SII_READ:
ret = ec_ioctl_slave_sii_read(master, arg);
break;
case EC_IOCTL_SLAVE_SII_WRITE:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_slave_sii_write(master, arg);
break;
case EC_IOCTL_SLAVE_REG_READ:
ret = ec_ioctl_slave_reg_read(master, arg);
break;
case EC_IOCTL_SLAVE_REG_WRITE:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_slave_reg_write(master, arg);
break;
case EC_IOCTL_SLAVE_FOE_READ:
ret = ec_ioctl_slave_foe_read(master, arg);
break;
case EC_IOCTL_SLAVE_FOE_WRITE:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_slave_foe_write(master, arg);
break;
case EC_IOCTL_SLAVE_SOE_READ:
ret = ec_ioctl_slave_soe_read(master, arg);
break;
case EC_IOCTL_SLAVE_SOE_WRITE:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_slave_soe_write(master, arg);
break;
case EC_IOCTL_CONFIG:
ret = ec_ioctl_config(master, arg);
break;
case EC_IOCTL_CONFIG_PDO:
ret = ec_ioctl_config_pdo(master, arg);
break;
case EC_IOCTL_CONFIG_PDO_ENTRY:
ret = ec_ioctl_config_pdo_entry(master, arg);
break;
case EC_IOCTL_CONFIG_SDO:
ret = ec_ioctl_config_sdo(master, arg);
break;
case EC_IOCTL_CONFIG_IDN:
ret = ec_ioctl_config_idn(master, arg);
break;
#ifdef EC_EOE
case EC_IOCTL_EOE_HANDLER:
ret = ec_ioctl_eoe_handler(master, arg);
break;
#endif
case EC_IOCTL_REQUEST:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_request(master, arg, ctx);
break;
case EC_IOCTL_CREATE_DOMAIN:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_create_domain(master, arg, ctx);
break;
case EC_IOCTL_CREATE_SLAVE_CONFIG:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_create_slave_config(master, arg, ctx);
break;
case EC_IOCTL_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_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_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;
}
/*****************************************************************************/