fp@922: /******************************************************************************
fp@922:  *
fp@922:  *  $Id$
fp@922:  *
fp@922:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@922:  *
fp@922:  *  This file is part of the IgH EtherCAT Master.
fp@922:  *
fp@922:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@922:  *  and/or modify it under the terms of the GNU General Public License
fp@922:  *  as published by the Free Software Foundation; either version 2 of the
fp@922:  *  License, or (at your option) any later version.
fp@922:  *
fp@922:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@922:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@922:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@922:  *  GNU General Public License for more details.
fp@922:  *
fp@922:  *  You should have received a copy of the GNU General Public License
fp@922:  *  along 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@922:  *  The right to use EtherCAT Technology is granted and comes free of
fp@922:  *  charge under condition of compatibility of product made by
fp@922:  *  Licensee. People intending to distribute/sell products based on the
fp@922:  *  code, have to sign an agreement to guarantee that products using
fp@922:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@922:  *  EtherCAT specification (which are released themselves as an open
fp@922:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@922:  *  Technology, IP and trade marks.
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@1242: /** Private data structure for file handles.
fp@1242:  */
fp@1242: typedef struct {
fp@1242:     ec_cdev_t *cdev;
fp@1242:     unsigned int requested;
fp@1242: } ec_cdev_priv_t;
fp@1242: 
fp@1242: /*****************************************************************************/
fp@1242: 
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@1223:                 domain->data_size)) {
fp@1223:         up(&master->master_sem);
fp@1223:         return -EFAULT;
fp@1223:     }
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@1209:                 request.req.state != EC_INT_REQUEST_QUEUED)) {
fp@1079:         // interrupted by signal
fp@1079:         down(&master->master_sem);
fp@1209:         if (request.req.state == EC_INT_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@1209:     wait_event(master->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
fp@1079: 
fp@1079:     data.abort_code = request.req.abort_code;
fp@1079: 
fp@1209:     if (request.req.state != EC_INT_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@1209:                 request.req.state != EC_INT_REQUEST_QUEUED)) {
fp@1079:         // interrupted by signal
fp@1079:         down(&master->master_sem);
fp@1209:         if (request.req.state == EC_INT_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@1209:     wait_event(master->sdo_queue, request.req.state != EC_INT_REQUEST_BUSY);
fp@1079: 
fp@1079:     data.abort_code = request.req.abort_code;
fp@1079: 
fp@1209:     retval = request.req.state == EC_INT_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@1209:     request.state = EC_INT_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@1209:                 request.state != EC_INT_REQUEST_QUEUED)) {
fp@1079:         // interrupted by signal
fp@1079:         down(&master->master_sem);
fp@1209:         if (request.state == EC_INT_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@1209:     wait_event(master->sii_queue, request.state != EC_INT_REQUEST_BUSY);
fp@1079: 
fp@1079:     kfree(words);
fp@1079: 
fp@1209:     return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/
fp@1079: 
fp@1200: /** Read a slave's physical memory.
fp@1200:  */
fp@1200: int ec_cdev_ioctl_slave_phy_read(
fp@1200:         ec_master_t *master, /**< EtherCAT master. */
fp@1200:         unsigned long arg /**< ioctl() argument. */
fp@1200:         )
fp@1200: {
fp@1200:     ec_ioctl_slave_phy_t data;
fp@1200:     ec_slave_t *slave;
fp@1200:     uint8_t *contents;
fp@1200:     ec_phy_request_t request;
fp@1200: 
fp@1200:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1200:         return -EFAULT;
fp@1200:     }
fp@1200: 
fp@1200:     if (!data.length)
fp@1200:         return 0;
fp@1200: 
fp@1200:     if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
fp@1200:         EC_ERR("Failed to allocate %u bytes for phy data.\n", data.length);
fp@1200:         return -ENOMEM;
fp@1200:     }
fp@1200: 
fp@1200:     if (down_interruptible(&master->master_sem))
fp@1200:         return -EINTR;
fp@1200: 
fp@1200:     if (!(slave = ec_master_find_slave(
fp@1200:                     master, 0, data.slave_position))) {
fp@1200:         up(&master->master_sem);
fp@1200:         EC_ERR("Slave %u does not exist!\n", data.slave_position);
fp@1200:         return -EINVAL;
fp@1200:     }
fp@1200: 
fp@1200:     // init phy request
fp@1200:     INIT_LIST_HEAD(&request.list);
fp@1200:     request.slave = slave;
fp@1200:     request.dir = EC_DIR_INPUT;
fp@1200:     request.data = contents;
fp@1200:     request.offset = data.offset;
fp@1200:     request.length = data.length;
fp@1209:     request.state = EC_INT_REQUEST_QUEUED;
fp@1200: 
fp@1200:     // schedule request.
fp@1200:     list_add_tail(&request.list, &master->phy_requests);
fp@1200: 
fp@1200:     up(&master->master_sem);
fp@1200: 
fp@1200:     // wait for processing through FSM
fp@1200:     if (wait_event_interruptible(master->phy_queue,
fp@1209:                 request.state != EC_INT_REQUEST_QUEUED)) {
fp@1200:         // interrupted by signal
fp@1200:         down(&master->master_sem);
fp@1209:         if (request.state == EC_INT_REQUEST_QUEUED) {
fp@1200:             // abort request
fp@1200:             list_del(&request.list);
fp@1200:             up(&master->master_sem);
fp@1200:             kfree(contents);
fp@1200:             return -EINTR;
fp@1200:         }
fp@1200:         up(&master->master_sem);
fp@1200:     }
fp@1200: 
fp@1200:     // wait until master FSM has finished processing
fp@1209:     wait_event(master->phy_queue, request.state != EC_INT_REQUEST_BUSY);
fp@1209: 
fp@1209:     if (request.state == EC_INT_REQUEST_SUCCESS) {
fp@1200:         if (copy_to_user((void __user *) data.data, contents, data.length))
fp@1200:             return -EFAULT;
fp@1200:     }
fp@1200:     kfree(contents);
fp@1200: 
fp@1209:     return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
fp@1200: }
fp@1200: 
fp@1200: /*****************************************************************************/
fp@1200: 
fp@1200: /** Write a slave's physical memory.
fp@1200:  */
fp@1200: int ec_cdev_ioctl_slave_phy_write(
fp@1200:         ec_master_t *master, /**< EtherCAT master. */
fp@1200:         unsigned long arg /**< ioctl() argument. */
fp@1200:         )
fp@1200: {
fp@1200:     ec_ioctl_slave_phy_t data;
fp@1200:     ec_slave_t *slave;
fp@1200:     uint8_t *contents;
fp@1200:     ec_phy_request_t request;
fp@1200: 
fp@1200:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1200:         return -EFAULT;
fp@1200:     }
fp@1200: 
fp@1200:     if (!data.length)
fp@1200:         return 0;
fp@1200: 
fp@1200:     if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
fp@1200:         EC_ERR("Failed to allocate %u bytes for phy data.\n", data.length);
fp@1200:         return -ENOMEM;
fp@1200:     }
fp@1200: 
fp@1200:     if (copy_from_user(contents, (void __user *) data.data, data.length)) {
fp@1200:         kfree(contents);
fp@1200:         return -EFAULT;
fp@1200:     }
fp@1200: 
fp@1200:     if (down_interruptible(&master->master_sem))
fp@1200:         return -EINTR;
fp@1200: 
fp@1200:     if (!(slave = ec_master_find_slave(
fp@1200:                     master, 0, data.slave_position))) {
fp@1200:         up(&master->master_sem);
fp@1200:         EC_ERR("Slave %u does not exist!\n", data.slave_position);
fp@1200:         kfree(contents);
fp@1200:         return -EINVAL;
fp@1200:     }
fp@1200: 
fp@1200:     // init phy request
fp@1200:     INIT_LIST_HEAD(&request.list);
fp@1200:     request.slave = slave;
fp@1200:     request.dir = EC_DIR_OUTPUT;
fp@1200:     request.data = contents;
fp@1200:     request.offset = data.offset;
fp@1200:     request.length = data.length;
fp@1209:     request.state = EC_INT_REQUEST_QUEUED;
fp@1200: 
fp@1200:     // schedule request.
fp@1200:     list_add_tail(&request.list, &master->phy_requests);
fp@1200: 
fp@1200:     up(&master->master_sem);
fp@1200: 
fp@1200:     // wait for processing through FSM
fp@1200:     if (wait_event_interruptible(master->phy_queue,
fp@1209:                 request.state != EC_INT_REQUEST_QUEUED)) {
fp@1200:         // interrupted by signal
fp@1200:         down(&master->master_sem);
fp@1209:         if (request.state == EC_INT_REQUEST_QUEUED) {
fp@1200:             // abort request
fp@1200:             list_del(&request.list);
fp@1200:             up(&master->master_sem);
fp@1200:             kfree(contents);
fp@1200:             return -EINTR;
fp@1200:         }
fp@1200:         up(&master->master_sem);
fp@1200:     }
fp@1200: 
fp@1200:     // wait until master FSM has finished processing
fp@1209:     wait_event(master->phy_queue, request.state != EC_INT_REQUEST_BUSY);
fp@1200: 
fp@1200:     kfree(contents);
fp@1200: 
fp@1209:     return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
fp@1200: }
fp@1200: 
fp@1200: /*****************************************************************************/
fp@1200: 
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@1242: /*****************************************************************************/
fp@1242: 
fp@1242: /** Request the master from userspace.
fp@1242:  */
fp@1242: int ec_cdev_ioctl_request(
fp@1242:         ec_master_t *master, /**< EtherCAT master. */
fp@1242:         unsigned long arg, /**< ioctl() argument. */
fp@1242:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1242:         )
fp@1242: {
fp@1244: 	ec_master_t *m;
fp@1242:     int ret = 0;
fp@1242: 
fp@1244:     m = ecrt_request_master(master->index);
fp@1244:     if (IS_ERR(m)) {
fp@1244:         ret = PTR_ERR(m);
fp@1242:     } else {
fp@1242:         priv->requested = 1;
fp@1242:     }
fp@1242: 
fp@1242:     return ret;
fp@1242: }
fp@1242: 
fp@1244: /*****************************************************************************/
fp@1244: 
fp@1244: /** Create a domain.
fp@1244:  */
fp@1244: int ec_cdev_ioctl_create_domain(
fp@1244:         ec_master_t *master, /**< EtherCAT master. */
fp@1244:         unsigned long arg, /**< ioctl() argument. */
fp@1244:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1244:         )
fp@1244: {
fp@1244:     ec_domain_t *domain;
fp@1244: 
fp@1244: 	if (unlikely(!priv->requested))
fp@1244: 		return -EPERM;
fp@1244: 
fp@1244:     domain = ecrt_master_create_domain(master);
fp@1244:     if (!domain)
fp@1244:         return -ENOMEM;
fp@1244: 
fp@1244:     return domain->index;
fp@1244: }
fp@1244: 
fp@1246: /*****************************************************************************/
fp@1246: 
fp@1246: /** Create a slave configuration.
fp@1246:  */
fp@1246: int ec_cdev_ioctl_create_slave_config(
fp@1246:         ec_master_t *master, /**< EtherCAT master. */
fp@1246:         unsigned long arg, /**< ioctl() argument. */
fp@1246:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1246:         )
fp@1246: {
fp@1246:     ec_ioctl_config_t data;
fp@1246:     ec_slave_config_t *sc, *entry;
fp@1246: 
fp@1246: 	if (unlikely(!priv->requested))
fp@1246: 		return -EPERM;
fp@1246: 
fp@1246:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1246:         return -EFAULT;
fp@1246:     }
fp@1246: 
fp@1246:     sc = ecrt_master_slave_config(master, data.alias, data.position,
fp@1246:             data.vendor_id, data.product_code);
fp@1246:     if (!sc)
fp@1246:         return -ENODEV; // FIXME
fp@1246: 
fp@1246:     data.config_index = 0;
fp@1246: 
fp@1246:     if (down_interruptible(&master->master_sem))
fp@1246:         return -EINTR;
fp@1246: 
fp@1246:     list_for_each_entry(entry, &master->configs, list) {
fp@1246:         if (entry == sc)
fp@1246:             break;
fp@1246:         data.config_index++;
fp@1246:     }
fp@1246: 
fp@1246:     up(&master->master_sem);
fp@1246: 
fp@1246:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1246:         return -EFAULT;
fp@1246: 
fp@1246:     return 0;
fp@1246: }
fp@1246: 
fp@1247: /*****************************************************************************/
fp@1247: 
fp@1247: /** Activates the master.
fp@1247:  */
fp@1247: int ec_cdev_ioctl_activate(
fp@1247:         ec_master_t *master, /**< EtherCAT master. */
fp@1247:         unsigned long arg, /**< ioctl() argument. */
fp@1247:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1247:         )
fp@1247: {
fp@1247: 	if (unlikely(!priv->requested))
fp@1247: 		return -EPERM;
fp@1247: 
fp@1247:     if (ecrt_master_activate(master))
fp@1247:         return -EIO;
fp@1247: 
fp@1247:     return 0;
fp@1247: }
fp@1247: 
fp@1247: /*****************************************************************************/
fp@1247: 
fp@1247: /** Send frames.
fp@1247:  */
fp@1247: int ec_cdev_ioctl_send(
fp@1247:         ec_master_t *master, /**< EtherCAT master. */
fp@1247:         unsigned long arg, /**< ioctl() argument. */
fp@1247:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1247:         )
fp@1247: {
fp@1247: 	if (unlikely(!priv->requested))
fp@1247: 		return -EPERM;
fp@1247: 
fp@1247:     spin_lock_bh(&master->internal_lock);
fp@1247:     ecrt_master_send(master);
fp@1247:     spin_unlock_bh(&master->internal_lock);
fp@1247:     return 0;
fp@1247: }
fp@1247: 
fp@1247: /*****************************************************************************/
fp@1247: 
fp@1247: /** Receive frames.
fp@1247:  */
fp@1247: int ec_cdev_ioctl_receive(
fp@1247:         ec_master_t *master, /**< EtherCAT master. */
fp@1247:         unsigned long arg, /**< ioctl() argument. */
fp@1247:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1247:         )
fp@1247: {
fp@1247: 	if (unlikely(!priv->requested))
fp@1247: 		return -EPERM;
fp@1247: 
fp@1247:     spin_lock_bh(&master->internal_lock);
fp@1247:     ecrt_master_receive(master);
fp@1247:     spin_unlock_bh(&master->internal_lock);
fp@1247:     return 0;
fp@1247: }
fp@1247: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: /** Set the direction of a sync manager.
fp@1255:  */
fp@1255: int ec_cdev_ioctl_sc_sync(
fp@1255:         ec_master_t *master, /**< EtherCAT master. */
fp@1255:         unsigned long arg, /**< ioctl() argument. */
fp@1255:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1255:         )
fp@1255: {
fp@1255:     ec_ioctl_config_t data;
fp@1255:     ec_slave_config_t *sc;
fp@1255:     unsigned int i;
fp@1255:     int ret = 0;
fp@1255: 
fp@1255: 	if (unlikely(!priv->requested)) {
fp@1255:         ret = -EPERM;
fp@1255:         goto out_return;
fp@1255:     }
fp@1255: 
fp@1255:     if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
fp@1255:         ret = -EFAULT;
fp@1255:         goto out_return;
fp@1255:     }
fp@1255: 
fp@1255:     if (down_interruptible(&master->master_sem)) {
fp@1255:         ret = -EINTR;
fp@1255:         goto out_return;
fp@1255:     }
fp@1255: 
fp@1255:     if (!(sc = ec_master_get_config(master, data.config_index))) {
fp@1255:         ret = -ESRCH;
fp@1255:         goto out_up;
fp@1255:     }
fp@1255: 
fp@1255:     for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
fp@1255:         ec_direction_t dir = data.syncs[i].dir;
fp@1255:         if (dir == EC_DIR_INPUT || dir == EC_DIR_OUTPUT) {
fp@1255:             if (ecrt_slave_config_sync_manager(sc, i, dir)) {
fp@1255:                 ret = -EINVAL;
fp@1255:                 goto out_up;
fp@1255:             }
fp@1255:         }
fp@1255:     }
fp@1255: 
fp@1255: out_up:
fp@1255:     up(&master->master_sem);
fp@1255: out_return:
fp@1255:     return ret;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: /** Add a Pdo to the assignment.
fp@1255:  */
fp@1255: int ec_cdev_ioctl_sc_add_pdo(
fp@1255:         ec_master_t *master, /**< EtherCAT master. */
fp@1255:         unsigned long arg, /**< ioctl() argument. */
fp@1255:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1255:         )
fp@1255: {
fp@1255:     ec_ioctl_config_pdo_t data;
fp@1255:     ec_slave_config_t *sc;
fp@1255: 
fp@1255: 	if (unlikely(!priv->requested))
fp@1255:         return -EPERM;
fp@1255: 
fp@1255:     if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
fp@1255:         return -EFAULT;
fp@1255: 
fp@1255:     if (down_interruptible(&master->master_sem))
fp@1255:         return -EINTR;
fp@1255: 
fp@1255:     if (!(sc = ec_master_get_config(master, data.config_index))) {
fp@1255:         up(&master->master_sem);
fp@1255:         return -ESRCH;
fp@1255:     }
fp@1255: 
fp@1255:     up(&master->master_sem); // FIXME
fp@1255: 
fp@1255:     return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index);
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: /** Clears the Pdo assignment.
fp@1255:  */
fp@1255: int ec_cdev_ioctl_sc_clear_pdos(
fp@1255:         ec_master_t *master, /**< EtherCAT master. */
fp@1255:         unsigned long arg, /**< ioctl() argument. */
fp@1255:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1255:         )
fp@1255: {
fp@1255:     ec_ioctl_config_pdo_t data;
fp@1255:     ec_slave_config_t *sc;
fp@1255: 
fp@1255: 	if (unlikely(!priv->requested))
fp@1255:         return -EPERM;
fp@1255: 
fp@1255:     if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
fp@1255:         return -EFAULT;
fp@1255: 
fp@1255:     if (down_interruptible(&master->master_sem))
fp@1255:         return -EINTR;
fp@1255: 
fp@1255:     if (!(sc = ec_master_get_config(master, data.config_index))) {
fp@1255:         up(&master->master_sem);
fp@1255:         return -ESRCH;
fp@1255:     }
fp@1255: 
fp@1255:     up(&master->master_sem); // FIXME
fp@1255: 
fp@1255:     ecrt_slave_config_pdo_assign_clear(sc, data.sync_index);
fp@1255:     return 0;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: /** Add an entry to a Pdo's mapping.
fp@1255:  */
fp@1255: int ec_cdev_ioctl_sc_add_entry(
fp@1255:         ec_master_t *master, /**< EtherCAT master. */
fp@1255:         unsigned long arg, /**< ioctl() argument. */
fp@1255:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1255:         )
fp@1255: {
fp@1255:     ec_ioctl_add_pdo_entry_t data;
fp@1255:     ec_slave_config_t *sc;
fp@1255: 
fp@1255: 	if (unlikely(!priv->requested))
fp@1255:         return -EPERM;
fp@1255: 
fp@1255:     if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
fp@1255:         return -EFAULT;
fp@1255: 
fp@1255:     if (down_interruptible(&master->master_sem))
fp@1255:         return -EINTR;
fp@1255: 
fp@1255:     if (!(sc = ec_master_get_config(master, data.config_index))) {
fp@1255:         up(&master->master_sem);
fp@1255:         return -ESRCH;
fp@1255:     }
fp@1255: 
fp@1255:     up(&master->master_sem); // FIXME
fp@1255: 
fp@1255:     return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index,
fp@1255:             data.entry_index, data.entry_subindex, data.entry_bit_length);
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: /** Clears the mapping of a Pdo.
fp@1255:  */
fp@1255: int ec_cdev_ioctl_sc_clear_entries(
fp@1255:         ec_master_t *master, /**< EtherCAT master. */
fp@1255:         unsigned long arg, /**< ioctl() argument. */
fp@1255:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1255:         )
fp@1255: {
fp@1255:     ec_ioctl_config_pdo_t data;
fp@1255:     ec_slave_config_t *sc;
fp@1255: 
fp@1255: 	if (unlikely(!priv->requested))
fp@1255:         return -EPERM;
fp@1255: 
fp@1255:     if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
fp@1255:         return -EFAULT;
fp@1255: 
fp@1255:     if (down_interruptible(&master->master_sem))
fp@1255:         return -EINTR;
fp@1255: 
fp@1255:     if (!(sc = ec_master_get_config(master, data.config_index))) {
fp@1255:         up(&master->master_sem);
fp@1255:         return -ESRCH;
fp@1255:     }
fp@1255: 
fp@1255:     up(&master->master_sem); // FIXME
fp@1255: 
fp@1255:     ecrt_slave_config_pdo_mapping_clear(sc, data.index);
fp@1255:     return 0;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: /** Registers a Pdo entry.
fp@1255:  */
fp@1255: int ec_cdev_ioctl_sc_reg_pdo_entry(
fp@1255:         ec_master_t *master, /**< EtherCAT master. */
fp@1255:         unsigned long arg, /**< ioctl() argument. */
fp@1255:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1255:         )
fp@1255: {
fp@1255:     ec_ioctl_reg_pdo_entry_t data;
fp@1255:     ec_slave_config_t *sc;
fp@1255:     ec_domain_t *domain;
fp@1255:     int ret;
fp@1255: 
fp@1255: 	if (unlikely(!priv->requested))
fp@1255:         return -EPERM;
fp@1255: 
fp@1255:     if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
fp@1255:         return -EFAULT;
fp@1255: 
fp@1255:     if (down_interruptible(&master->master_sem))
fp@1255:         return -EINTR;
fp@1255: 
fp@1255:     if (!(sc = ec_master_get_config(master, data.config_index))) {
fp@1255:         up(&master->master_sem);
fp@1255:         return -ESRCH;
fp@1255:     }
fp@1255: 
fp@1255:     if (!(domain = ec_master_find_domain(master, data.domain_index))) {
fp@1255:         up(&master->master_sem);
fp@1255:         return -ESRCH;
fp@1255:     }
fp@1255: 
fp@1255:     up(&master->master_sem); // FIXME
fp@1255: 
fp@1255:     ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index,
fp@1255:             data.entry_subindex, domain, &data.bit_position);
fp@1255: 
fp@1255:     if (copy_to_user((void __user *) arg, &data, sizeof(data)))
fp@1255:         return -EFAULT;
fp@1255: 
fp@1255:     return ret;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: /** Configures an Sdo.
fp@1255:  */
fp@1255: int ec_cdev_ioctl_sc_sdo(
fp@1255:         ec_master_t *master, /**< EtherCAT master. */
fp@1255:         unsigned long arg, /**< ioctl() argument. */
fp@1255:         ec_cdev_priv_t *priv /**< Private data structure of file handle. */
fp@1255:         )
fp@1255: {
fp@1255:     ec_ioctl_sc_sdo_t data;
fp@1255:     ec_slave_config_t *sc;
fp@1255:     uint8_t *sdo_data = NULL;
fp@1255:     int ret;
fp@1255: 
fp@1255: 	if (unlikely(!priv->requested))
fp@1255:         return -EPERM;
fp@1255: 
fp@1255:     if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
fp@1255:         return -EFAULT;
fp@1255: 
fp@1255:     if (!data.size)
fp@1255:         return -EINVAL;
fp@1255: 
fp@1255:     if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) {
fp@1255:         return -ENOMEM;
fp@1255:     }
fp@1255: 
fp@1255:     if (copy_from_user(sdo_data, (void __user *) data.data, data.size)) {
fp@1255:         kfree(sdo_data);
fp@1255:         return -EFAULT;
fp@1255:     }
fp@1255: 
fp@1255:     if (down_interruptible(&master->master_sem)) {
fp@1255:         kfree(sdo_data);
fp@1255:         return -EINTR;
fp@1255:     }
fp@1255: 
fp@1255:     if (!(sc = ec_master_get_config(master, data.config_index))) {
fp@1255:         up(&master->master_sem);
fp@1255:         kfree(sdo_data);
fp@1255:         return -ESRCH;
fp@1255:     }
fp@1255: 
fp@1255:     up(&master->master_sem); // FIXME
fp@1255: 
fp@1255:     ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data,
fp@1255:             data.size);
fp@1255:     kfree(sdo_data);
fp@1255:     return ret;
fp@1255: }
fp@1255: 
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@1242:     ec_cdev_priv_t *priv;
fp@1242: 
fp@1242:     priv = kmalloc(sizeof(ec_cdev_priv_t), GFP_KERNEL);
fp@1242:     if (!priv) {
fp@1242:         EC_ERR("Failed to allocate memory for private data structure.\n");
fp@1242:         return -ENOMEM;
fp@1242:     }
fp@1242: 
fp@1242:     priv->cdev = cdev;
fp@1242:     priv->requested = 0;
fp@1242: 
fp@1242:     filp->private_data = priv;
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@1242:     ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
fp@1242:     ec_master_t *master = priv->cdev->master;
fp@1242: 
fp@1242:     if (priv->requested)
fp@1242:         ecrt_release_master(master);
fp@935: 
fp@935:     if (master->debug_level)
fp@935:         EC_DBG("File closed.\n");
fp@1242:     kfree(priv);
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@1242:     ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
fp@1242:     ec_master_t *master = priv->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@1200:         case EC_IOCTL_SLAVE_PHY_READ:
fp@1200:             return ec_cdev_ioctl_slave_phy_read(master, arg);
fp@1200:         case EC_IOCTL_SLAVE_PHY_WRITE:
fp@1200:             if (!(filp->f_mode & FMODE_WRITE))
fp@1200:                 return -EPERM;
fp@1200:             return ec_cdev_ioctl_slave_phy_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@1242:         case EC_IOCTL_REQUEST:
fp@1242:             if (!(filp->f_mode & FMODE_WRITE))
fp@1242: 				return -EPERM;
fp@1242: 			return ec_cdev_ioctl_request(master, arg, priv);
fp@1244:         case EC_IOCTL_CREATE_DOMAIN:
fp@1244:             if (!(filp->f_mode & FMODE_WRITE))
fp@1244: 				return -EPERM;
fp@1244: 			return ec_cdev_ioctl_create_domain(master, arg, priv);
fp@1246:         case EC_IOCTL_CREATE_SLAVE_CONFIG:
fp@1246:             if (!(filp->f_mode & FMODE_WRITE))
fp@1246: 				return -EPERM;
fp@1246: 			return ec_cdev_ioctl_create_slave_config(master, arg, priv);
fp@1247:         case EC_IOCTL_ACTIVATE:
fp@1247:             if (!(filp->f_mode & FMODE_WRITE))
fp@1247: 				return -EPERM;
fp@1247: 			return ec_cdev_ioctl_activate(master, arg, priv);
fp@1247:         case EC_IOCTL_SEND:
fp@1247:             if (!(filp->f_mode & FMODE_WRITE))
fp@1247: 				return -EPERM;
fp@1247: 			return ec_cdev_ioctl_send(master, arg, priv);
fp@1247:         case EC_IOCTL_RECEIVE:
fp@1247:             if (!(filp->f_mode & FMODE_WRITE))
fp@1247: 				return -EPERM;
fp@1247: 			return ec_cdev_ioctl_receive(master, arg, priv);
fp@1255:         case EC_IOCTL_SC_SYNC:
fp@1255:             if (!(filp->f_mode & FMODE_WRITE))
fp@1255: 				return -EPERM;
fp@1255: 			return ec_cdev_ioctl_sc_sync(master, arg, priv);
fp@1255:         case EC_IOCTL_SC_ADD_PDO:
fp@1255:             if (!(filp->f_mode & FMODE_WRITE))
fp@1255: 				return -EPERM;
fp@1255: 			return ec_cdev_ioctl_sc_add_pdo(master, arg, priv);
fp@1255:         case EC_IOCTL_SC_CLEAR_PDOS:
fp@1255:             if (!(filp->f_mode & FMODE_WRITE))
fp@1255: 				return -EPERM;
fp@1255: 			return ec_cdev_ioctl_sc_clear_pdos(master, arg, priv);
fp@1255:         case EC_IOCTL_SC_ADD_ENTRY:
fp@1255:             if (!(filp->f_mode & FMODE_WRITE))
fp@1255: 				return -EPERM;
fp@1255: 			return ec_cdev_ioctl_sc_add_entry(master, arg, priv);
fp@1255:         case EC_IOCTL_SC_CLEAR_ENTRIES:
fp@1255:             if (!(filp->f_mode & FMODE_WRITE))
fp@1255: 				return -EPERM;
fp@1255: 			return ec_cdev_ioctl_sc_clear_entries(master, arg, priv);
fp@1255:         case EC_IOCTL_SC_REG_PDO_ENTRY:
fp@1255:             if (!(filp->f_mode & FMODE_WRITE))
fp@1255: 				return -EPERM;
fp@1255: 			return ec_cdev_ioctl_sc_reg_pdo_entry(master, arg, priv);
fp@1255:         case EC_IOCTL_SC_SDO:
fp@1255:             if (!(filp->f_mode & FMODE_WRITE))
fp@1255: 				return -EPERM;
fp@1255: 			return ec_cdev_ioctl_sc_sdo(master, arg, priv);
fp@922:         default:
fp@1079:             return -ENOTTY;
fp@1079:     }
fp@1079: }
fp@1079: 
fp@1079: /*****************************************************************************/