fp@922: /******************************************************************************
fp@922:  *
fp@922:  *  $Id$
fp@922:  *
fp@1685:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@922:  *
fp@922:  *  This file is part of the IgH EtherCAT Master.
fp@922:  *
fp@1685:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1685:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1685:  *  published by the Free Software Foundation.
fp@922:  *
fp@1685:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1685:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1685:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1685:  *  Public License for more details.
fp@922:  *
fp@1685:  *  You should have received a copy of the GNU General Public License along
fp@1685:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@922:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@922:  *
fp@1685:  *  Using the EtherCAT technology and brand is permitted in compliance with
fp@1685:  *  the industrial property and similar rights of Beckhoff Automation GmbH.
fp@922:  *
fp@922:  *****************************************************************************/
fp@922: 
fp@922: /**
fp@922:    \file
fp@922:    EtherCAT master character device.
fp@922: */
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@922: #include <linux/module.h>
fp@922: 
fp@922: #include "cdev.h"
fp@922: #include "master.h"
fp@950: #include "slave_config.h"
fp@922: #include "ioctl.h"
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@922: /** \cond */
fp@922: 
fp@922: int eccdev_open(struct inode *, struct file *);
fp@922: int eccdev_release(struct inode *, struct file *);
fp@935: long eccdev_ioctl(struct file *, unsigned int, unsigned long);
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@922: static struct file_operations eccdev_fops = {
fp@935:     .owner          = THIS_MODULE,
fp@935:     .open           = eccdev_open,
fp@935:     .release        = eccdev_release,
fp@935:     .unlocked_ioctl = eccdev_ioctl
fp@922: };
fp@922: 
fp@922: /** \endcond */
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@922: /** Constructor.
fp@922:  * 
fp@922:  * \return 0 in case of success, else < 0
fp@922:  */
fp@922: int ec_cdev_init(
fp@922: 		ec_cdev_t *cdev, /**< EtherCAT master character device. */
fp@922: 		ec_master_t *master, /**< Parent master. */
fp@922: 		dev_t dev_num /**< Device number. */
fp@922: 		)
fp@922: {
fp@922:     cdev->master = master;
fp@922: 
fp@922:     cdev_init(&cdev->cdev, &eccdev_fops);
fp@922:     cdev->cdev.owner = THIS_MODULE;
fp@922: 
fp@922:     if (cdev_add(&cdev->cdev,
fp@922: 		 MKDEV(MAJOR(dev_num), master->index), 1)) {
fp@922: 		EC_ERR("Failed to add character device!\n");
fp@922: 		return -1;
fp@922:     }
fp@922: 
fp@922:     return 0;
fp@922: }
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@922: /** Destructor.
fp@922:  */
fp@922: void ec_cdev_clear(ec_cdev_t *cdev /**< EtherCAT XML device */)
fp@922: {
fp@922:     cdev_del(&cdev->cdev);
fp@922: }
fp@922: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1108: /** Copies a string to an ioctl structure.
fp@1108:  */
fp@1108: void ec_cdev_strcpy(
fp@1108:         char *target, /**< Target. */
fp@1108:         const char *source /**< Source. */
fp@1108:         )
fp@1108: {
fp@1108:     if (source) {
fp@1108:         strncpy(target, source, EC_IOCTL_STRING_SIZE);
fp@1108:         target[EC_IOCTL_STRING_SIZE - 1] = 0;
fp@1108:     } else {
fp@1108:         target[0] = 0;
fp@1108:     }
fp@1108: }
fp@1108: 
fp@1108: /*****************************************************************************/
fp@1108: 
fp@1079: /** Get master information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_master(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< Userspace address to store the results. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_master_t data;
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079:     data.slave_count = master->slave_count;
fp@1079:     data.config_count = ec_master_config_count(master);
fp@1079:     data.domain_count = ec_master_domain_count(master);
fp@1079:     data.phase = (uint8_t) master->phase;
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1189:     if (down_interruptible(&master->device_sem))
fp@1189:         return -EINTR;
fp@1162:     if (master->main_device.dev) {
fp@1162:         memcpy(data.devices[0].address,
fp@1162:                 master->main_device.dev->dev_addr, ETH_ALEN);
fp@1162:     } else {
fp@1162:         memcpy(data.devices[0].address, master->main_mac, ETH_ALEN); 
fp@1162:     }
fp@1079:     data.devices[0].attached = master->main_device.dev ? 1 : 0;
fp@1079:     data.devices[0].tx_count = master->main_device.tx_count;
fp@1079:     data.devices[0].rx_count = master->main_device.rx_count;
fp@1162: 
fp@1162:     if (master->backup_device.dev) {
fp@1162:         memcpy(data.devices[1].address,
fp@1162:                 master->backup_device.dev->dev_addr, ETH_ALEN); 
fp@1162:     } else {
fp@1162:         memcpy(data.devices[1].address, master->backup_mac, ETH_ALEN); 
fp@1162:     }
fp@1079:     data.devices[1].attached = master->backup_device.dev ? 1 : 0;
fp@1079:     data.devices[1].tx_count = master->backup_device.tx_count;
fp@1079:     data.devices[1].rx_count = master->backup_device.rx_count;
fp@1079:     up(&master->device_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get slave information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_slave(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< Userspace address to store the results. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_slave_t data;
fp@1079:     const ec_slave_t *slave;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(slave = ec_master_find_slave_const(
fp@1079:                     master, 0, data.position))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave %u does not exist!\n", data.position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     data.vendor_id = slave->sii.vendor_id;
fp@1079:     data.product_code = slave->sii.product_code;
fp@1079:     data.revision_number = slave->sii.revision_number;
fp@1079:     data.serial_number = slave->sii.serial_number;
fp@1079:     data.alias = slave->sii.alias;
fp@1079:     data.rx_mailbox_offset = slave->sii.rx_mailbox_offset;
fp@1079:     data.rx_mailbox_size = slave->sii.rx_mailbox_size;
fp@1079:     data.tx_mailbox_offset = slave->sii.tx_mailbox_offset;
fp@1079:     data.tx_mailbox_size = slave->sii.tx_mailbox_size;
fp@1079:     data.mailbox_protocols = slave->sii.mailbox_protocols;
fp@1079:     data.has_general_category = slave->sii.has_general;
fp@1079:     data.coe_details = slave->sii.coe_details;
fp@1079:     data.general_flags = slave->sii.general_flags;
fp@1079:     data.current_on_ebus = slave->sii.current_on_ebus;
fp@1148:     data.al_state = slave->current_state;
fp@1079:     data.error_flag = slave->error_flag;
fp@1079: 
fp@1079:     data.sync_count = slave->sii.sync_count;
fp@1079:     data.sdo_count = ec_slave_sdo_count(slave);
fp@1079:     data.sii_nwords = slave->sii_nwords;
fp@1109:     ec_cdev_strcpy(data.group, slave->sii.group);
fp@1109:     ec_cdev_strcpy(data.image, slave->sii.image);
fp@1109:     ec_cdev_strcpy(data.order, slave->sii.order);
fp@1108:     ec_cdev_strcpy(data.name, slave->sii.name);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get slave sync manager information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_slave_sync(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< Userspace address to store the results. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_slave_sync_t data;
fp@1079:     const ec_slave_t *slave;
fp@1079:     const ec_sync_t *sync;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(slave = ec_master_find_slave_const(
fp@1079:                     master, 0, data.slave_position))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave %u does not exist!\n", data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (data.sync_index >= slave->sii.sync_count) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Sync manager %u does not exist in slave %u!\n",
fp@1079:                 data.sync_index, data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     sync = &slave->sii.syncs[data.sync_index];
fp@1079: 
fp@1079:     data.physical_start_address = sync->physical_start_address;
fp@1079:     data.default_size = sync->default_length;
fp@1079:     data.control_register = sync->control_register;
fp@1079:     data.enable = sync->enable;
fp@1079:     data.pdo_count = ec_pdo_list_count(&sync->pdos);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get slave sync manager Pdo information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_slave_sync_pdo(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< Userspace address to store the results. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_slave_sync_pdo_t data;
fp@1079:     const ec_slave_t *slave;
fp@1079:     const ec_sync_t *sync;
fp@1079:     const ec_pdo_t *pdo;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(slave = ec_master_find_slave_const(
fp@1079:                     master, 0, data.slave_position))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave %u does not exist!\n", data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (data.sync_index >= slave->sii.sync_count) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Sync manager %u does not exist in slave %u!\n",
fp@1079:                 data.sync_index, data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     sync = &slave->sii.syncs[data.sync_index];
fp@1079:     if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
fp@1079:                     &sync->pdos, data.pdo_pos))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Sync manager %u does not contain a Pdo with "
fp@1079:                 "position %u in slave %u!\n", data.sync_index,
fp@1079:                 data.pdo_pos, data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     data.index = pdo->index;
fp@1079:     data.entry_count = ec_pdo_entry_count(pdo);
fp@1108:     ec_cdev_strcpy(data.name, pdo->name);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get slave sync manager Pdo entry information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_slave_sync_pdo_entry(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< Userspace address to store the results. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_slave_sync_pdo_entry_t data;
fp@1079:     const ec_slave_t *slave;
fp@1079:     const ec_sync_t *sync;
fp@1079:     const ec_pdo_t *pdo;
fp@1079:     const ec_pdo_entry_t *entry;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(slave = ec_master_find_slave_const(
fp@1079:                     master, 0, data.slave_position))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave %u does not exist!\n", data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (data.sync_index >= slave->sii.sync_count) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Sync manager %u does not exist in slave %u!\n",
fp@1079:                 data.sync_index, data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     sync = &slave->sii.syncs[data.sync_index];
fp@1079:     if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
fp@1079:                     &sync->pdos, data.pdo_pos))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Sync manager %u does not contain a Pdo with "
fp@1079:                 "position %u in slave %u!\n", data.sync_index,
fp@1079:                 data.pdo_pos, data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (!(entry = ec_pdo_find_entry_by_pos_const(
fp@1079:                     pdo, data.entry_pos))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Pdo 0x%04X does not contain an entry with "
fp@1079:                 "position %u in slave %u!\n", data.pdo_pos,
fp@1079:                 data.entry_pos, data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     data.index = entry->index;
fp@1079:     data.subindex = entry->subindex;
fp@1079:     data.bit_length = entry->bit_length;
fp@1108:     ec_cdev_strcpy(data.name, entry->name);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get domain information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_domain(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< Userspace address to store the results. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_domain_t data;
fp@1079:     const ec_domain_t *domain;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(domain = ec_master_find_domain_const(master, data.index))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Domain %u does not exist!\n", data.index);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     data.data_size = domain->data_size;
fp@1079:     data.logical_base_address = domain->logical_base_address;
fp@1079:     data.working_counter = domain->working_counter;
fp@1079:     data.expected_working_counter = domain->expected_working_counter;
fp@1079:     data.fmmu_count = ec_domain_fmmu_count(domain);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get domain FMMU information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_domain_fmmu(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< Userspace address to store the results. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_domain_fmmu_t data;
fp@1079:     const ec_domain_t *domain;
fp@1079:     const ec_fmmu_config_t *fmmu;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Domain %u does not exist!\n", data.domain_index);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Domain %u has less than %u fmmu configurations.\n",
fp@1079:                 data.domain_index, data.fmmu_index + 1);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     data.slave_config_alias = fmmu->sc->alias;
fp@1079:     data.slave_config_position = fmmu->sc->position;
fp@1079:     data.sync_index = fmmu->sync_index;
fp@1079:     data.dir = fmmu->dir;
fp@1079:     data.logical_address = fmmu->logical_start_address;
fp@1079:     data.data_size = fmmu->data_size;
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get domain data.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_domain_data(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< Userspace address to store the results. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_domain_data_t data;
fp@1079:     const ec_domain_t *domain;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Domain %u does not exist!\n", data.domain_index);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (domain->data_size != data.data_size) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Data size mismatch %u/%u!\n",
fp@1079:                 data.data_size, domain->data_size);
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) data.target, domain->data,
fp@1637:                 domain->data_size)) {
fp@1637:         up(&master->master_sem);
fp@1637:         return -EFAULT;
fp@1637:     }
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Set master debug level.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_master_debug(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< ioctl() argument. */
fp@1079:         )
fp@1079: {
fp@1079:     if (ec_master_debug_level(master, (unsigned int) arg))
fp@1079:         return -EINVAL;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Set slave state.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_slave_state(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< ioctl() argument. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_slave_state_t data;
fp@1079:     ec_slave_t *slave;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(slave = ec_master_find_slave(
fp@1079:                     master, 0, data.slave_position))) {
fp@1196:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave %u does not exist!\n", data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1150:     ec_slave_request_state(slave, data.al_state);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get slave Sdo information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_slave_sdo(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< ioctl() argument. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_slave_sdo_t data;
fp@1079:     const ec_slave_t *slave;
fp@1079:     const ec_sdo_t *sdo;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(slave = ec_master_find_slave_const(
fp@1079:                     master, 0, data.slave_position))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave %u does not exist!\n", data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (!(sdo = ec_slave_get_sdo_by_pos_const(
fp@1079:                     slave, data.sdo_position))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Sdo %u does not exist in slave %u!\n",
fp@1079:                 data.sdo_position, data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     data.sdo_index = sdo->index;
fp@1079:     data.max_subindex = sdo->max_subindex;
fp@1108:     ec_cdev_strcpy(data.name, sdo->name);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get slave Sdo entry information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_slave_sdo_entry(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< ioctl() argument. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_slave_sdo_entry_t data;
fp@1079:     const ec_slave_t *slave;
fp@1079:     const ec_sdo_t *sdo;
fp@1079:     const ec_sdo_entry_t *entry;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(slave = ec_master_find_slave_const(
fp@1079:                     master, 0, data.slave_position))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave %u does not exist!\n", data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (data.sdo_spec <= 0) {
fp@1079:         if (!(sdo = ec_slave_get_sdo_by_pos_const(
fp@1079:                         slave, -data.sdo_spec))) {
fp@1079:             up(&master->master_sem);
fp@1079:             EC_ERR("Sdo %u does not exist in slave %u!\n",
fp@1079:                     -data.sdo_spec, data.slave_position);
fp@1079:             return -EINVAL;
fp@1079:         }
fp@1079:     } else {
fp@1079:         if (!(sdo = ec_slave_get_sdo_const(
fp@1079:                         slave, data.sdo_spec))) {
fp@1079:             up(&master->master_sem);
fp@1079:             EC_ERR("Sdo 0x%04X does not exist in slave %u!\n",
fp@1079:                     data.sdo_spec, data.slave_position);
fp@1079:             return -EINVAL;
fp@1079:         }
fp@1079:     }
fp@1079: 
fp@1079:     if (!(entry = ec_sdo_get_entry_const(
fp@1079:                     sdo, data.sdo_entry_subindex))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Sdo entry 0x%04X:%02X does not exist "
fp@1079:                 "in slave %u!\n", sdo->index,
fp@1079:                 data.sdo_entry_subindex, data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     data.data_type = entry->data_type;
fp@1079:     data.bit_length = entry->bit_length;
fp@1108:     ec_cdev_strcpy(data.description, entry->description);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Upload Sdo.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_slave_sdo_upload(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< ioctl() argument. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_slave_sdo_upload_t data;
fp@1079:     ec_master_sdo_request_t request;
fp@1079:     int retval;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1079:     ec_sdo_request_init(&request.req);
fp@1079:     ec_sdo_request_address(&request.req,
fp@1079:             data.sdo_index, data.sdo_entry_subindex);
fp@1079:     ecrt_sdo_request_read(&request.req);
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(request.slave = ec_master_find_slave(
fp@1079:                     master, 0, data.slave_position))) {
fp@1079:         up(&master->master_sem);
fp@1079:         ec_sdo_request_clear(&request.req);
fp@1079:         EC_ERR("Slave %u does not exist!\n", data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     // schedule request.
fp@1079:     list_add_tail(&request.list, &master->slave_sdo_requests);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     // wait for processing through FSM
fp@1079:     if (wait_event_interruptible(master->sdo_queue,
fp@1079:                 request.req.state != EC_REQUEST_QUEUED)) {
fp@1079:         // interrupted by signal
fp@1079:         down(&master->master_sem);
fp@1079:         if (request.req.state == EC_REQUEST_QUEUED) {
fp@1079:             list_del(&request.req.list);
fp@1079:             up(&master->master_sem);
fp@1079:             ec_sdo_request_clear(&request.req);
fp@1079:             return -EINTR;
fp@1079:         }
fp@1079:         // request already processing: interrupt not possible.
fp@1079:         up(&master->master_sem);
fp@1079:     }
fp@1079: 
fp@1079:     // wait until master FSM has finished processing
fp@1079:     wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY);
fp@1079: 
fp@1079:     data.abort_code = request.req.abort_code;
fp@1079: 
fp@1079:     if (request.req.state != EC_REQUEST_SUCCESS) {
fp@1079:         data.data_size = 0;
fp@1079:         retval = -EIO;
fp@1079:     } else {
fp@1079:         if (request.req.data_size > data.target_size) {
fp@1079:             EC_ERR("Buffer too small.\n");
fp@1079:             ec_sdo_request_clear(&request.req);
fp@1079:             return -EOVERFLOW;
fp@1079:         }
fp@1079:         data.data_size = request.req.data_size;
fp@1079: 
fp@1079:         if (copy_to_user((void __user *) data.target,
fp@1079:                     request.req.data, data.data_size)) {
fp@1079:             ec_sdo_request_clear(&request.req);
fp@1079:             return -EFAULT;
fp@1079:         }
fp@1079:         retval = 0;
fp@1079:     }
fp@1079: 
fp@1079:     if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
fp@1079:         retval = -EFAULT;
fp@1079:     }
fp@1079: 
fp@1079:     ec_sdo_request_clear(&request.req);
fp@1079:     return retval;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Download Sdo.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_slave_sdo_download(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< ioctl() argument. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_slave_sdo_download_t data;
fp@1079:     ec_master_sdo_request_t request;
fp@1079:     int retval;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1079:     // copy data to download
fp@1079:     if (!data.data_size) {
fp@1079:         EC_ERR("Zero data size!\n");
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     ec_sdo_request_init(&request.req);
fp@1079:     ec_sdo_request_address(&request.req,
fp@1079:             data.sdo_index, data.sdo_entry_subindex);
fp@1079:     if (ec_sdo_request_alloc(&request.req, data.data_size)) {
fp@1079:         ec_sdo_request_clear(&request.req);
fp@1079:         return -ENOMEM;
fp@1079:     }
fp@1079:     if (copy_from_user(request.req.data,
fp@1079:                 (void __user *) data.data, data.data_size)) {
fp@1079:         ec_sdo_request_clear(&request.req);
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079:     request.req.data_size = data.data_size;
fp@1079:     ecrt_sdo_request_write(&request.req);
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(request.slave = ec_master_find_slave(
fp@1079:                     master, 0, data.slave_position))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave %u does not exist!\n", data.slave_position);
fp@1079:         ec_sdo_request_clear(&request.req);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079:     
fp@1079:     // schedule request.
fp@1079:     list_add_tail(&request.list, &master->slave_sdo_requests);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     // wait for processing through FSM
fp@1079:     if (wait_event_interruptible(master->sdo_queue,
fp@1079:                 request.req.state != EC_REQUEST_QUEUED)) {
fp@1079:         // interrupted by signal
fp@1079:         down(&master->master_sem);
fp@1079:         if (request.req.state == EC_REQUEST_QUEUED) {
fp@1079:             list_del(&request.req.list);
fp@1079:             up(&master->master_sem);
fp@1079:             ec_sdo_request_clear(&request.req);
fp@1079:             return -EINTR;
fp@1079:         }
fp@1079:         // request already processing: interrupt not possible.
fp@1079:         up(&master->master_sem);
fp@1079:     }
fp@1079: 
fp@1079:     // wait until master FSM has finished processing
fp@1079:     wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY);
fp@1079: 
fp@1079:     data.abort_code = request.req.abort_code;
fp@1079: 
fp@1079:     retval = request.req.state == EC_REQUEST_SUCCESS ? 0 : -EIO;
fp@1079: 
fp@1079:     if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
fp@1079:         retval = -EFAULT;
fp@1079:     }
fp@1079: 
fp@1079:     ec_sdo_request_clear(&request.req);
fp@1079:     return retval;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Read a slave's SII.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_slave_sii_read(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< ioctl() argument. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_slave_sii_t data;
fp@1079:     const ec_slave_t *slave;
fp@1079:     int retval;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(slave = ec_master_find_slave_const(
fp@1079:                     master, 0, data.slave_position))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave %u does not exist!\n", data.slave_position);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (!data.nwords
fp@1079:             || data.offset + data.nwords > slave->sii_nwords) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Invalid SII read offset/size %u/%u for slave "
fp@1079:                 "SII size %u!\n", data.offset,
fp@1079:                 data.nwords, slave->sii_nwords);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) data.words,
fp@1079:                 slave->sii_words + data.offset, data.nwords * 2))
fp@1079:         retval = -EFAULT;
fp@1079:     else
fp@1079:         retval = 0;
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079:     return retval;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Write a slave's SII.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_slave_sii_write(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< ioctl() argument. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_slave_sii_t data;
fp@1079:     ec_slave_t *slave;
fp@1079:     unsigned int byte_size;
fp@1079:     uint16_t *words;
fp@1079:     ec_sii_write_request_t request;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1079:     if (!data.nwords)
fp@1079:         return 0;
fp@1079: 
fp@1079:     byte_size = sizeof(uint16_t) * data.nwords;
fp@1079:     if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
fp@1079:         EC_ERR("Failed to allocate %u bytes for SII contents.\n",
fp@1079:                 byte_size);
fp@1079:         return -ENOMEM;
fp@1079:     }
fp@1079: 
fp@1079:     if (copy_from_user(words,
fp@1079:                 (void __user *) data.words, byte_size)) {
fp@1079:         kfree(words);
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(slave = ec_master_find_slave(
fp@1079:                     master, 0, data.slave_position))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave %u does not exist!\n", data.slave_position);
fp@1079:         kfree(words);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     // init SII write request
fp@1079:     INIT_LIST_HEAD(&request.list);
fp@1079:     request.slave = slave;
fp@1079:     request.words = words;
fp@1079:     request.offset = data.offset;
fp@1079:     request.nwords = data.nwords;
fp@1079:     request.state = EC_REQUEST_QUEUED;
fp@1079: 
fp@1079:     // schedule SII write request.
fp@1079:     list_add_tail(&request.list, &master->sii_requests);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     // wait for processing through FSM
fp@1079:     if (wait_event_interruptible(master->sii_queue,
fp@1079:                 request.state != EC_REQUEST_QUEUED)) {
fp@1079:         // interrupted by signal
fp@1079:         down(&master->master_sem);
fp@1079:         if (request.state == EC_REQUEST_QUEUED) {
fp@1079:             // abort request
fp@1079:             list_del(&request.list);
fp@1079:             up(&master->master_sem);
fp@1079:             kfree(words);
fp@1079:             return -EINTR;
fp@1079:         }
fp@1079:         up(&master->master_sem);
fp@1079:     }
fp@1079: 
fp@1079:     // wait until master FSM has finished processing
fp@1079:     wait_event(master->sii_queue, request.state != EC_REQUEST_BUSY);
fp@1079: 
fp@1079:     kfree(words);
fp@1079: 
fp@1079:     return request.state == EC_REQUEST_SUCCESS ? 0 : -EIO;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get slave configuration information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_config(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< ioctl() argument. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_config_t data;
fp@1079:     const ec_slave_config_t *sc;
fp@1079:     uint8_t i;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(sc = ec_master_get_config_const(
fp@1079:                     master, data.config_index))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave config %u does not exist!\n",
fp@1079:                 data.config_index);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     data.alias = sc->alias;
fp@1079:     data.position = sc->position;
fp@1079:     data.vendor_id = sc->vendor_id;
fp@1079:     data.product_code = sc->product_code;
fp@1082:     for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
fp@1079:         data.syncs[i].dir = sc->sync_configs[i].dir;
fp@1079:         data.syncs[i].pdo_count =
fp@1079:             ec_pdo_list_count(&sc->sync_configs[i].pdos);
fp@1079:     }
fp@1079:     data.sdo_count = ec_slave_config_sdo_count(sc);
fp@1147:     data.slave_position = sc->slave ? sc->slave->ring_position : -1;
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get slave configuration Pdo information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_config_pdo(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< ioctl() argument. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_config_pdo_t data;
fp@1079:     const ec_slave_config_t *sc;
fp@1079:     const ec_pdo_t *pdo;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1082:     if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
fp@1079:         EC_ERR("Invalid sync manager index %u!\n",
fp@1079:                 data.sync_index);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(sc = ec_master_get_config_const(
fp@1079:                     master, data.config_index))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave config %u does not exist!\n",
fp@1079:                 data.config_index);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
fp@1079:                     &sc->sync_configs[data.sync_index].pdos,
fp@1079:                     data.pdo_pos))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Invalid Pdo position!\n");
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     data.index = pdo->index;
fp@1079:     data.entry_count = ec_pdo_entry_count(pdo);
fp@1108:     ec_cdev_strcpy(data.name, pdo->name);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get slave configuration Pdo entry information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_config_pdo_entry(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< ioctl() argument. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_config_pdo_entry_t data;
fp@1079:     const ec_slave_config_t *sc;
fp@1079:     const ec_pdo_t *pdo;
fp@1079:     const ec_pdo_entry_t *entry;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1082:     if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
fp@1079:         EC_ERR("Invalid sync manager index %u!\n",
fp@1079:                 data.sync_index);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(sc = ec_master_get_config_const(
fp@1079:                     master, data.config_index))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave config %u does not exist!\n",
fp@1079:                 data.config_index);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
fp@1079:                     &sc->sync_configs[data.sync_index].pdos,
fp@1079:                     data.pdo_pos))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Invalid Pdo position!\n");
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (!(entry = ec_pdo_find_entry_by_pos_const(
fp@1079:                     pdo, data.entry_pos))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Entry not found!\n");
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     data.index = entry->index;
fp@1079:     data.subindex = entry->subindex;
fp@1079:     data.bit_length = entry->bit_length;
fp@1108:     ec_cdev_strcpy(data.name, entry->name);
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1079: /** Get slave configuration Sdo information.
fp@1079:  */
fp@1079: int ec_cdev_ioctl_config_sdo(
fp@1079:         ec_master_t *master, /**< EtherCAT master. */
fp@1079:         unsigned long arg /**< ioctl() argument. */
fp@1079:         )
fp@1079: {
fp@1079:     ec_ioctl_config_sdo_t data;
fp@1079:     const ec_slave_config_t *sc;
fp@1079:     const ec_sdo_request_t *req;
fp@1079: 
fp@1079:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1079:         return -EFAULT;
fp@1079:     }
fp@1079: 
fp@1189:     if (down_interruptible(&master->master_sem))
fp@1189:         return -EINTR;
fp@1079: 
fp@1079:     if (!(sc = ec_master_get_config_const(
fp@1079:                     master, data.config_index))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Slave config %u does not exist!\n",
fp@1079:                 data.config_index);
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     if (!(req = ec_slave_config_get_sdo_by_pos_const(
fp@1079:                     sc, data.sdo_pos))) {
fp@1079:         up(&master->master_sem);
fp@1079:         EC_ERR("Invalid Sdo position!\n");
fp@1079:         return -EINVAL;
fp@1079:     }
fp@1079: 
fp@1079:     data.index = req->index;
fp@1079:     data.subindex = req->subindex;
fp@1079:     data.size = req->data_size;
fp@1079:     memcpy(&data.data, req->data, min((u32) data.size, (u32) 4));
fp@1079: 
fp@1079:     up(&master->master_sem);
fp@1079: 
fp@1079:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1079:         return -EFAULT;
fp@1079: 
fp@1079:     return 0;
fp@1079: }
fp@1079: 
fp@922: /******************************************************************************
fp@922:  * File operations
fp@922:  *****************************************************************************/
fp@922: 
fp@1092: /** Called when the cdev is opened.
fp@1092:  */
fp@922: int eccdev_open(struct inode *inode, struct file *filp)
fp@922: {
fp@922:     ec_cdev_t *cdev = container_of(inode->i_cdev, ec_cdev_t, cdev);
fp@935:     ec_master_t *master = cdev->master;
fp@922: 
fp@922:     filp->private_data = cdev;
fp@935:     if (master->debug_level)
fp@935:         EC_DBG("File opened.\n");
fp@922:     return 0;
fp@922: }
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@1092: /** Called when the cdev is closed.
fp@1092:  */
fp@922: int eccdev_release(struct inode *inode, struct file *filp)
fp@922: {
fp@935:     ec_cdev_t *cdev = (ec_cdev_t *) filp->private_data;
fp@935:     ec_master_t *master = cdev->master;
fp@935: 
fp@935:     if (master->debug_level)
fp@935:         EC_DBG("File closed.\n");
fp@922:     return 0;
fp@922: }
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@1092: /** Called when an ioctl() command is issued.
fp@1092:  */
fp@935: long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
fp@935: {
fp@935:     ec_cdev_t *cdev = (ec_cdev_t *) filp->private_data;
fp@922:     ec_master_t *master = cdev->master;
fp@922: 
fp@922:     if (master->debug_level)
fp@981:         EC_DBG("ioctl(filp = %x, cmd = %u (%u), arg = %x)\n",
fp@981:                 (u32) filp, (u32) cmd, (u32) _IOC_NR(cmd), (u32) arg);
fp@935: 
fp@922:     switch (cmd) {
fp@957:         case EC_IOCTL_MASTER:
fp@1079:             return ec_cdev_ioctl_master(master, arg);
fp@935:         case EC_IOCTL_SLAVE:
fp@1079:             return ec_cdev_ioctl_slave(master, arg);
fp@1079:         case EC_IOCTL_SLAVE_SYNC:
fp@1079:             return ec_cdev_ioctl_slave_sync(master, arg);
fp@1079:         case EC_IOCTL_SLAVE_SYNC_PDO:
fp@1079:             return ec_cdev_ioctl_slave_sync_pdo(master, arg);
fp@1079:         case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
fp@1079:             return ec_cdev_ioctl_slave_sync_pdo_entry(master, arg);
fp@948:         case EC_IOCTL_DOMAIN:
fp@1079:             return ec_cdev_ioctl_domain(master, arg);
fp@950:         case EC_IOCTL_DOMAIN_FMMU:
fp@1079:             return ec_cdev_ioctl_domain_fmmu(master, arg);
fp@1079:         case EC_IOCTL_DOMAIN_DATA:
fp@1079:             return ec_cdev_ioctl_domain_data(master, arg);
fp@1079:         case EC_IOCTL_MASTER_DEBUG:
fp@972:             if (!(filp->f_mode & FMODE_WRITE))
fp@972:                 return -EPERM;
fp@1079:             return ec_cdev_ioctl_master_debug(master, arg);
fp@960:         case EC_IOCTL_SLAVE_STATE:
fp@1079:             if (!(filp->f_mode & FMODE_WRITE))
fp@1079:                 return -EPERM;
fp@1079:             return ec_cdev_ioctl_slave_state(master, arg);
fp@1079:         case EC_IOCTL_SLAVE_SDO:
fp@1079:             return ec_cdev_ioctl_slave_sdo(master, arg);
fp@1079:         case EC_IOCTL_SLAVE_SDO_ENTRY:
fp@1079:             return ec_cdev_ioctl_slave_sdo_entry(master, arg);
fp@1079:         case EC_IOCTL_SLAVE_SDO_UPLOAD:
fp@1079:             return ec_cdev_ioctl_slave_sdo_upload(master, arg);
fp@1079:         case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
fp@1079:             if (!(filp->f_mode & FMODE_WRITE))
fp@1079:                 return -EPERM;
fp@1079:             return ec_cdev_ioctl_slave_sdo_download(master, arg);
fp@1079:         case EC_IOCTL_SLAVE_SII_READ:
fp@1079:             return ec_cdev_ioctl_slave_sii_read(master, arg);
fp@1079:         case EC_IOCTL_SLAVE_SII_WRITE:
fp@1079:             if (!(filp->f_mode & FMODE_WRITE))
fp@1079:                 return -EPERM;
fp@1079:             return ec_cdev_ioctl_slave_sii_write(master, arg);
fp@990:         case EC_IOCTL_CONFIG:
fp@1079:             return ec_cdev_ioctl_config(master, arg);
fp@990:         case EC_IOCTL_CONFIG_PDO:
fp@1079:             return ec_cdev_ioctl_config_pdo(master, arg);
fp@990:         case EC_IOCTL_CONFIG_PDO_ENTRY:
fp@1079:             return ec_cdev_ioctl_config_pdo_entry(master, arg);
fp@990:         case EC_IOCTL_CONFIG_SDO:
fp@1079:             return ec_cdev_ioctl_config_sdo(master, arg);
fp@922:         default:
fp@1079:             return -ENOTTY;
fp@1079:     }
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/