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 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@922: ssize_t eccdev_read(struct file *, char __user *, size_t, loff_t *); fp@922: ssize_t eccdev_write(struct file *, const char __user *, size_t, loff_t *); 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@922: /****************************************************************************** fp@922: * File operations fp@922: *****************************************************************************/ fp@922: 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@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@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@935: long retval = 0; 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@935: // FIXME lock fp@935: fp@922: switch (cmd) { fp@957: case EC_IOCTL_MASTER: fp@957: { fp@957: ec_ioctl_master_t data; fp@957: fp@957: data.slave_count = master->slave_count; fp@990: data.config_count = ec_master_config_count(master); fp@957: data.mode = (uint8_t) master->mode; fp@957: fp@957: memcpy(data.devices[0].address, master->main_mac, ETH_ALEN); fp@957: data.devices[0].attached = master->main_device.dev ? 1 : 0; fp@957: data.devices[0].tx_count = master->main_device.tx_count; fp@957: data.devices[0].rx_count = master->main_device.rx_count; fp@957: memcpy(data.devices[1].address, master->backup_mac, ETH_ALEN); fp@957: data.devices[1].attached = master->backup_device.dev ? 1 : 0; fp@957: data.devices[1].tx_count = master->backup_device.tx_count; fp@957: data.devices[1].rx_count = master->backup_device.rx_count; fp@957: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@999: break; fp@999: } fp@935: fp@935: case EC_IOCTL_SLAVE: fp@922: { fp@935: ec_ioctl_slave_t data; fp@935: const ec_slave_t *slave; fp@935: fp@935: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@935: retval = -EFAULT; fp@935: break; fp@935: } fp@935: fp@935: if (!(slave = ec_master_find_slave( fp@935: master, 0, data.position))) { fp@935: EC_ERR("Slave %u does not exist!\n", data.position); fp@935: retval = -EINVAL; fp@935: break; fp@935: } fp@935: fp@935: data.vendor_id = slave->sii.vendor_id; fp@935: data.product_code = slave->sii.product_code; fp@938: data.revision_number = slave->sii.revision_number; fp@938: data.serial_number = slave->sii.serial_number; fp@935: data.alias = slave->sii.alias; fp@989: data.rx_mailbox_offset = slave->sii.rx_mailbox_offset; fp@989: data.rx_mailbox_size = slave->sii.rx_mailbox_size; fp@989: data.tx_mailbox_offset = slave->sii.tx_mailbox_offset; fp@989: data.tx_mailbox_size = slave->sii.tx_mailbox_size; fp@989: data.mailbox_protocols = slave->sii.mailbox_protocols; fp@989: data.has_general_category = slave->sii.has_general; fp@989: data.coe_details = slave->sii.coe_details; fp@989: data.general_flags = slave->sii.general_flags; fp@989: data.current_on_ebus = slave->sii.current_on_ebus; fp@935: data.state = slave->current_state; fp@987: data.error_flag = slave->error_flag; fp@935: fp@935: data.sync_count = slave->sii.sync_count; fp@965: data.sdo_count = ec_slave_sdo_count(slave); fp@978: data.sii_nwords = slave->sii_nwords; fp@935: fp@935: if (slave->sii.name) { fp@935: strncpy(data.name, slave->sii.name, fp@990: EC_IOCTL_STRING_SIZE); fp@990: data.name[EC_IOCTL_STRING_SIZE - 1] = 0; fp@935: } else { fp@935: data.name[0] = 0; fp@935: } fp@935: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@935: break; fp@922: } fp@922: fp@935: case EC_IOCTL_SYNC: fp@922: { fp@935: ec_ioctl_sync_t data; fp@922: const ec_slave_t *slave; fp@935: const ec_sync_t *sync; fp@935: fp@935: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@935: retval = -EFAULT; fp@935: break; fp@935: } fp@935: fp@935: if (!(slave = ec_master_find_slave( fp@935: master, 0, data.slave_position))) { fp@935: EC_ERR("Slave %u does not exist!\n", data.slave_position); fp@935: retval = -EINVAL; fp@935: break; fp@935: } fp@935: fp@935: if (data.sync_index >= slave->sii.sync_count) { fp@935: EC_ERR("Sync manager %u does not exist in slave %u!\n", fp@935: data.sync_index, data.slave_position); fp@935: retval = -EINVAL; fp@935: break; fp@935: } fp@935: fp@935: sync = &slave->sii.syncs[data.sync_index]; fp@935: fp@935: data.physical_start_address = sync->physical_start_address; fp@935: data.default_size = sync->length; fp@935: data.control_register = sync->control_register; fp@935: data.enable = sync->enable; fp@935: data.assign_source = sync->assign_source; fp@935: data.pdo_count = ec_pdo_list_count(&sync->pdos); fp@935: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@935: break; fp@922: } fp@922: fp@935: case EC_IOCTL_PDO: fp@935: { fp@935: ec_ioctl_pdo_t data; fp@935: const ec_slave_t *slave; fp@935: const ec_sync_t *sync; fp@935: const ec_pdo_t *pdo; fp@935: fp@935: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@935: retval = -EFAULT; fp@935: break; fp@935: } fp@935: fp@935: if (!(slave = ec_master_find_slave( fp@935: master, 0, data.slave_position))) { fp@935: EC_ERR("Slave %u does not exist!\n", data.slave_position); fp@935: retval = -EINVAL; fp@935: break; fp@935: } fp@935: fp@935: if (data.sync_index >= slave->sii.sync_count) { fp@935: EC_ERR("Sync manager %u does not exist in slave %u!\n", fp@935: data.sync_index, data.slave_position); fp@935: retval = -EINVAL; fp@935: break; fp@935: } fp@935: fp@935: sync = &slave->sii.syncs[data.sync_index]; fp@935: if (!(pdo = ec_pdo_list_find_pdo_by_pos_const( fp@935: &sync->pdos, data.pdo_pos))) { fp@935: EC_ERR("Sync manager %u does not contain a Pdo with " fp@935: "position %u in slave %u!\n", data.sync_index, fp@935: data.pdo_pos, data.slave_position); fp@935: retval = -EINVAL; fp@935: break; fp@935: } fp@935: fp@935: data.dir = pdo->dir; fp@935: data.index = pdo->index; fp@935: data.entry_count = ec_pdo_entry_count(pdo); fp@935: fp@935: if (pdo->name) { fp@990: strncpy(data.name, pdo->name, EC_IOCTL_STRING_SIZE); fp@990: data.name[EC_IOCTL_STRING_SIZE - 1] = 0; fp@935: } else { fp@935: data.name[0] = 0; fp@935: } fp@935: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@935: break; fp@935: } fp@935: fp@935: case EC_IOCTL_PDO_ENTRY: fp@935: { fp@935: ec_ioctl_pdo_entry_t data; fp@935: const ec_slave_t *slave; fp@935: const ec_sync_t *sync; fp@935: const ec_pdo_t *pdo; fp@935: const ec_pdo_entry_t *entry; fp@935: fp@935: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@935: retval = -EFAULT; fp@935: break; fp@935: } fp@935: fp@935: if (!(slave = ec_master_find_slave( fp@935: master, 0, data.slave_position))) { fp@935: EC_ERR("Slave %u does not exist!\n", data.slave_position); fp@935: retval = -EINVAL; fp@935: break; fp@935: } fp@935: fp@935: if (data.sync_index >= slave->sii.sync_count) { fp@935: EC_ERR("Sync manager %u does not exist in slave %u!\n", fp@935: data.sync_index, data.slave_position); fp@935: retval = -EINVAL; fp@935: break; fp@935: } fp@935: fp@935: sync = &slave->sii.syncs[data.sync_index]; fp@935: if (!(pdo = ec_pdo_list_find_pdo_by_pos_const( fp@935: &sync->pdos, data.pdo_pos))) { fp@935: EC_ERR("Sync manager %u does not contain a Pdo with " fp@935: "position %u in slave %u!\n", data.sync_index, fp@935: data.pdo_pos, data.slave_position); fp@935: retval = -EINVAL; fp@935: break; fp@935: } fp@935: fp@935: if (!(entry = ec_pdo_find_entry_by_pos_const( fp@935: pdo, data.entry_pos))) { fp@935: EC_ERR("Pdo 0x%04X does not contain an entry with " fp@935: "position %u in slave %u!\n", data.pdo_pos, fp@935: data.entry_pos, data.slave_position); fp@935: retval = -EINVAL; fp@935: break; fp@935: } fp@935: fp@935: data.index = entry->index; fp@935: data.subindex = entry->subindex; fp@935: data.bit_length = entry->bit_length; fp@935: if (entry->name) { fp@990: strncpy(data.name, entry->name, EC_IOCTL_STRING_SIZE); fp@990: data.name[EC_IOCTL_STRING_SIZE - 1] = 0; fp@935: } else { fp@935: data.name[0] = 0; fp@935: } fp@935: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@935: break; fp@935: } fp@935: fp@948: case EC_IOCTL_DOMAIN_COUNT: fp@948: retval = ec_master_domain_count(master); fp@948: break; fp@948: fp@948: case EC_IOCTL_DOMAIN: fp@948: { fp@948: ec_ioctl_domain_t data; fp@948: const ec_domain_t *domain; fp@948: fp@948: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@948: retval = -EFAULT; fp@948: break; fp@948: } fp@948: fp@948: if (!(domain = ec_master_find_domain(master, data.index))) { fp@948: EC_ERR("Domain %u does not exist!\n", data.index); fp@948: retval = -EINVAL; fp@948: break; fp@948: } fp@948: fp@948: data.data_size = domain->data_size; fp@948: data.logical_base_address = domain->logical_base_address; fp@948: data.working_counter = domain->working_counter; fp@948: data.expected_working_counter = domain->expected_working_counter; fp@950: data.fmmu_count = ec_domain_fmmu_count(domain); fp@950: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@950: break; fp@950: } fp@950: fp@950: case EC_IOCTL_DOMAIN_FMMU: fp@950: { fp@950: ec_ioctl_domain_fmmu_t data; fp@950: const ec_domain_t *domain; fp@950: const ec_fmmu_config_t *fmmu; fp@950: fp@950: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@950: retval = -EFAULT; fp@950: break; fp@950: } fp@950: fp@950: if (!(domain = ec_master_find_domain(master, data.domain_index))) { fp@950: EC_ERR("Domain %u does not exist!\n", data.domain_index); fp@950: retval = -EINVAL; fp@950: break; fp@950: } fp@950: fp@950: if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) { fp@950: EC_ERR("Domain %u has less than %u fmmu configurations.\n", fp@950: data.domain_index, data.fmmu_index + 1); fp@950: retval = -EINVAL; fp@950: break; fp@950: } fp@950: fp@950: data.slave_config_alias = fmmu->sc->alias; fp@950: data.slave_config_position = fmmu->sc->position; fp@950: data.fmmu_dir = fmmu->dir; fp@950: data.logical_address = fmmu->logical_start_address; fp@950: data.data_size = fmmu->data_size; fp@948: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@948: break; fp@948: } fp@948: fp@949: case EC_IOCTL_DATA: fp@949: { fp@949: ec_ioctl_data_t data; fp@949: const ec_domain_t *domain; fp@949: fp@949: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@949: retval = -EFAULT; fp@949: break; fp@949: } fp@949: fp@949: if (!(domain = ec_master_find_domain(master, data.domain_index))) { fp@949: EC_ERR("Domain %u does not exist!\n", data.domain_index); fp@949: retval = -EINVAL; fp@949: break; fp@949: } fp@949: fp@949: if (domain->data_size != data.data_size) { fp@949: EC_ERR("Data size mismatch %u/%u!\n", fp@949: data.data_size, domain->data_size); fp@949: retval = -EFAULT; fp@949: break; fp@949: } fp@949: fp@949: if (copy_to_user((void __user *) data.target, domain->data, fp@999: domain->data_size)) fp@999: retval = -EFAULT; fp@949: break; fp@949: } fp@949: fp@957: case EC_IOCTL_SET_DEBUG: fp@972: if (!(filp->f_mode & FMODE_WRITE)) fp@972: return -EPERM; fp@999: if (ec_master_debug_level(master, (unsigned int) arg)) fp@956: retval = -EINVAL; fp@956: break; fp@956: fp@960: case EC_IOCTL_SLAVE_STATE: fp@960: { fp@960: ec_ioctl_slave_state_t data; fp@960: ec_slave_t *slave; fp@960: fp@972: if (!(filp->f_mode & FMODE_WRITE)) fp@972: return -EPERM; fp@972: fp@960: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@960: retval = -EFAULT; fp@960: break; fp@960: } fp@960: fp@960: if (!(slave = ec_master_find_slave( fp@960: master, 0, data.slave_position))) { fp@960: EC_ERR("Slave %u does not exist!\n", data.slave_position); fp@960: retval = -EINVAL; fp@960: break; fp@960: } fp@960: fp@960: ec_slave_request_state(slave, data.requested_state); fp@960: break; fp@960: } fp@960: fp@965: case EC_IOCTL_SDO: fp@965: { fp@965: ec_ioctl_sdo_t data; fp@965: const ec_slave_t *slave; fp@965: const ec_sdo_t *sdo; fp@965: fp@965: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@965: retval = -EFAULT; fp@965: break; fp@965: } fp@965: fp@965: if (!(slave = ec_master_find_slave( fp@965: master, 0, data.slave_position))) { fp@965: EC_ERR("Slave %u does not exist!\n", data.slave_position); fp@965: retval = -EINVAL; fp@965: break; fp@965: } fp@965: fp@965: if (!(sdo = ec_slave_get_sdo_by_pos_const( fp@965: slave, data.sdo_position))) { fp@965: EC_ERR("Sdo %u does not exist in slave %u!\n", fp@965: data.sdo_position, data.slave_position); fp@965: retval = -EINVAL; fp@965: break; fp@965: } fp@965: fp@965: data.sdo_index = sdo->index; fp@965: data.max_subindex = sdo->max_subindex; fp@965: fp@965: if (sdo->name) { fp@990: strncpy(data.name, sdo->name, EC_IOCTL_STRING_SIZE); fp@990: data.name[EC_IOCTL_STRING_SIZE - 1] = 0; fp@965: } else { fp@965: data.name[0] = 0; fp@965: } fp@965: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@965: break; fp@965: } fp@965: fp@965: case EC_IOCTL_SDO_ENTRY: fp@965: { fp@965: ec_ioctl_sdo_entry_t data; fp@965: const ec_slave_t *slave; fp@965: const ec_sdo_t *sdo; fp@965: const ec_sdo_entry_t *entry; fp@965: fp@965: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@965: retval = -EFAULT; fp@965: break; fp@965: } fp@965: fp@965: if (!(slave = ec_master_find_slave( fp@965: master, 0, data.slave_position))) { fp@965: EC_ERR("Slave %u does not exist!\n", data.slave_position); fp@965: retval = -EINVAL; fp@965: break; fp@965: } fp@965: fp@968: if (data.sdo_spec <= 0) { fp@968: if (!(sdo = ec_slave_get_sdo_by_pos_const( fp@968: slave, -data.sdo_spec))) { fp@968: EC_ERR("Sdo %u does not exist in slave %u!\n", fp@968: -data.sdo_spec, data.slave_position); fp@968: retval = -EINVAL; fp@968: break; fp@968: } fp@968: } else { fp@968: if (!(sdo = ec_slave_get_sdo_const( fp@968: slave, data.sdo_spec))) { fp@968: EC_ERR("Sdo 0x%04X does not exist in slave %u!\n", fp@968: data.sdo_spec, data.slave_position); fp@968: retval = -EINVAL; fp@968: break; fp@968: } fp@965: } fp@965: fp@965: if (!(entry = ec_sdo_get_entry_const( fp@965: sdo, data.sdo_entry_subindex))) { fp@968: EC_ERR("Sdo entry 0x%04X:%02X does not exist " fp@968: "in slave %u!\n", sdo->index, fp@968: data.sdo_entry_subindex, data.slave_position); fp@965: retval = -EINVAL; fp@965: break; fp@965: } fp@965: fp@965: data.data_type = entry->data_type; fp@965: data.bit_length = entry->bit_length; fp@965: fp@965: if (entry->description) { fp@965: strncpy(data.description, entry->description, fp@990: EC_IOCTL_STRING_SIZE); fp@990: data.description[EC_IOCTL_STRING_SIZE - 1] fp@965: = 0; fp@965: } else { fp@965: data.description[0] = 0; fp@965: } fp@965: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@965: break; fp@965: } fp@965: fp@968: case EC_IOCTL_SDO_UPLOAD: fp@968: { fp@968: ec_ioctl_sdo_upload_t data; fp@968: ec_master_sdo_request_t request; fp@968: fp@968: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@968: retval = -EFAULT; fp@968: break; fp@968: } fp@968: fp@968: if (!(request.slave = ec_master_find_slave( fp@968: master, 0, data.slave_position))) { fp@968: EC_ERR("Slave %u does not exist!\n", data.slave_position); fp@968: retval = -EINVAL; fp@968: break; fp@968: } fp@968: fp@968: ec_sdo_request_init(&request.req); fp@968: ec_sdo_request_address(&request.req, fp@968: data.sdo_index, data.sdo_entry_subindex); fp@968: ecrt_sdo_request_read(&request.req); fp@968: fp@968: // schedule request. fp@968: down(&master->sdo_sem); fp@968: list_add_tail(&request.list, &master->slave_sdo_requests); fp@968: up(&master->sdo_sem); fp@968: fp@968: // wait for processing through FSM fp@968: if (wait_event_interruptible(master->sdo_queue, fp@968: request.req.state != EC_REQUEST_QUEUED)) { fp@968: // interrupted by signal fp@968: down(&master->sdo_sem); fp@968: if (request.req.state == EC_REQUEST_QUEUED) { fp@968: list_del(&request.req.list); fp@968: up(&master->sdo_sem); fp@968: retval = -EINTR; fp@968: break; fp@968: } fp@968: // request already processing: interrupt not possible. fp@968: up(&master->sdo_sem); fp@968: } fp@968: fp@968: // wait until master FSM has finished processing fp@968: wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY); fp@968: fp@968: if (request.req.state != EC_REQUEST_SUCCESS) { fp@968: retval = -EIO; fp@968: break; fp@968: } fp@968: fp@968: if (request.req.data_size > data.target_size) { fp@968: EC_ERR("Buffer too small.\n"); fp@968: retval = -EOVERFLOW; fp@968: break; fp@968: } fp@968: data.data_size = request.req.data_size; fp@968: fp@968: if (copy_to_user((void __user *) data.target, fp@968: request.req.data, data.data_size)) { fp@968: retval = -EFAULT; fp@968: break; fp@968: } fp@968: if (__copy_to_user((void __user *) arg, &data, sizeof(data))) { fp@968: retval = -EFAULT; fp@968: break; fp@968: } fp@968: fp@968: ec_sdo_request_clear(&request.req); fp@968: break; fp@968: } fp@968: fp@974: case EC_IOCTL_SDO_DOWNLOAD: fp@974: { fp@974: ec_ioctl_sdo_download_t data; fp@974: ec_master_sdo_request_t request; fp@974: fp@974: if (!(filp->f_mode & FMODE_WRITE)) fp@974: return -EPERM; fp@974: fp@974: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@974: retval = -EFAULT; fp@974: break; fp@974: } fp@974: fp@974: if (!(request.slave = ec_master_find_slave( fp@974: master, 0, data.slave_position))) { fp@974: EC_ERR("Slave %u does not exist!\n", data.slave_position); fp@974: retval = -EINVAL; fp@974: break; fp@974: } fp@974: fp@974: // copy data to download fp@974: if (!data.data_size) { fp@974: EC_ERR("Zero data size!\n"); fp@974: retval = -EINVAL; fp@974: break; fp@974: } fp@974: fp@974: ec_sdo_request_init(&request.req); fp@974: ec_sdo_request_address(&request.req, fp@974: data.sdo_index, data.sdo_entry_subindex); fp@974: if (ec_sdo_request_alloc(&request.req, data.data_size)) { fp@974: ec_sdo_request_clear(&request.req); fp@974: retval = -ENOMEM; fp@974: break; fp@974: } fp@974: if (copy_from_user(request.req.data, fp@974: (void __user *) data.data, data.data_size)) { fp@974: ec_sdo_request_clear(&request.req); fp@974: retval = -EFAULT; fp@974: break; fp@974: } fp@974: request.req.data_size = data.data_size; fp@974: ecrt_sdo_request_write(&request.req); fp@974: fp@974: // schedule request. fp@974: down(&master->sdo_sem); fp@974: list_add_tail(&request.list, &master->slave_sdo_requests); fp@974: up(&master->sdo_sem); fp@974: fp@974: // wait for processing through FSM fp@974: if (wait_event_interruptible(master->sdo_queue, fp@974: request.req.state != EC_REQUEST_QUEUED)) { fp@974: // interrupted by signal fp@974: down(&master->sdo_sem); fp@974: if (request.req.state == EC_REQUEST_QUEUED) { fp@974: list_del(&request.req.list); fp@974: up(&master->sdo_sem); fp@974: retval = -EINTR; fp@974: break; fp@974: } fp@974: // request already processing: interrupt not possible. fp@974: up(&master->sdo_sem); fp@974: } fp@974: fp@974: // wait until master FSM has finished processing fp@974: wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY); fp@974: fp@974: if (request.req.state != EC_REQUEST_SUCCESS) { fp@974: retval = -EIO; fp@974: break; fp@974: } fp@974: fp@974: ec_sdo_request_clear(&request.req); fp@974: break; fp@974: } fp@974: fp@978: case EC_IOCTL_SII_READ: fp@978: { fp@980: ec_ioctl_sii_t data; fp@978: const ec_slave_t *slave; fp@978: fp@978: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@978: retval = -EFAULT; fp@978: break; fp@978: } fp@978: fp@978: if (!(slave = ec_master_find_slave( fp@978: master, 0, data.slave_position))) { fp@978: EC_ERR("Slave %u does not exist!\n", data.slave_position); fp@978: retval = -EINVAL; fp@978: break; fp@978: } fp@978: fp@978: if (!data.nwords fp@978: || data.offset + data.nwords > slave->sii_nwords) { fp@978: EC_ERR("Invalid SII read offset/size %u/%u for slave " fp@978: "SII size %u!\n", data.offset, fp@978: data.nwords, slave->sii_nwords); fp@978: retval = -EINVAL; fp@978: break; fp@978: } fp@978: fp@978: if (copy_to_user((void __user *) data.words, fp@999: slave->sii_words + data.offset, data.nwords * 2)) fp@999: retval = -EFAULT; fp@978: break; fp@978: } fp@978: fp@980: case EC_IOCTL_SII_WRITE: fp@980: { fp@980: ec_ioctl_sii_t data; fp@980: ec_slave_t *slave; fp@980: unsigned int byte_size; fp@980: uint16_t *words; fp@980: fp@980: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@980: retval = -EFAULT; fp@980: break; fp@980: } fp@980: fp@980: if (!(slave = ec_master_find_slave( fp@980: master, 0, data.slave_position))) { fp@980: EC_ERR("Slave %u does not exist!\n", data.slave_position); fp@980: retval = -EINVAL; fp@980: break; fp@980: } fp@980: fp@980: if (!data.nwords) fp@980: break; fp@980: fp@980: byte_size = sizeof(uint16_t) * data.nwords; fp@980: if (!(words = kmalloc(byte_size, GFP_KERNEL))) { fp@980: EC_ERR("Failed to allocate %u bytes for SII contents.\n", fp@980: byte_size); fp@980: retval = -ENOMEM; fp@980: break; fp@980: } fp@980: fp@980: if (copy_from_user(words, fp@980: (void __user *) data.words, byte_size)) { fp@980: retval = -EFAULT; fp@980: kfree(words); fp@980: break; fp@980: } fp@980: fp@980: if (ec_slave_write_sii(slave, fp@999: data.offset, data.nwords, words)) fp@980: retval = -EIO; fp@980: fp@980: kfree(words); fp@980: break; fp@980: } fp@980: fp@990: case EC_IOCTL_CONFIG: fp@990: { fp@990: ec_ioctl_config_t data; fp@990: const ec_slave_config_t *sc; fp@990: fp@990: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@990: retval = -EFAULT; fp@990: break; fp@990: } fp@990: fp@990: if (!(sc = ec_master_get_config_const( fp@990: master, data.config_index))) { fp@990: EC_ERR("Slave config %u does not exist!\n", fp@990: data.config_index); fp@990: retval = -EINVAL; fp@990: break; fp@990: } fp@990: fp@990: data.alias = sc->alias; fp@990: data.position = sc->position; fp@990: data.vendor_id = sc->vendor_id; fp@990: data.product_code = sc->product_code; fp@990: data.pdo_count[EC_DIR_OUTPUT] = fp@990: ec_pdo_list_count(&sc->pdos[EC_DIR_OUTPUT]); fp@990: data.pdo_count[EC_DIR_INPUT] = fp@990: ec_pdo_list_count(&sc->pdos[EC_DIR_INPUT]); fp@990: data.sdo_count = ec_slave_config_sdo_count(sc); fp@990: data.attached = sc->slave != NULL; fp@990: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@990: break; fp@990: } fp@990: fp@990: case EC_IOCTL_CONFIG_PDO: fp@990: { fp@990: ec_ioctl_config_pdo_t data; fp@990: const ec_slave_config_t *sc; fp@990: const ec_pdo_t *pdo; fp@990: fp@990: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@990: retval = -EFAULT; fp@990: break; fp@990: } fp@990: fp@990: if (!(sc = ec_master_get_config_const( fp@990: master, data.config_index))) { fp@990: EC_ERR("Slave config %u does not exist!\n", fp@990: data.config_index); fp@990: retval = -EINVAL; fp@990: break; fp@990: } fp@990: fp@990: if (data.direction > EC_DIR_INPUT) { fp@990: EC_ERR("Invalid direction %u!\n", data.direction); fp@990: retval = -EINVAL; fp@990: break; fp@990: } fp@990: fp@990: if (!(pdo = ec_pdo_list_find_pdo_by_pos_const( fp@990: &sc->pdos[data.direction], data.pdo_pos))) { fp@990: EC_ERR("Invalid Pdo position!\n"); fp@990: retval = -EINVAL; fp@990: break; fp@990: } fp@990: fp@990: data.index = pdo->index; fp@990: data.entry_count = ec_pdo_entry_count(pdo); fp@990: fp@990: if (pdo->name) { fp@990: strncpy(data.name, pdo->name, EC_IOCTL_STRING_SIZE); fp@990: data.name[EC_IOCTL_STRING_SIZE - 1] = 0; fp@990: } else { fp@990: data.name[0] = 0; fp@990: } fp@990: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@990: break; fp@990: } fp@990: fp@990: case EC_IOCTL_CONFIG_PDO_ENTRY: fp@990: { fp@990: ec_ioctl_config_pdo_entry_t data; fp@990: const ec_slave_config_t *sc; fp@990: const ec_pdo_t *pdo; fp@990: const ec_pdo_entry_t *entry; fp@990: fp@990: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@990: retval = -EFAULT; fp@990: break; fp@990: } fp@990: fp@990: if (!(sc = ec_master_get_config_const( fp@990: master, data.config_index))) { fp@990: EC_ERR("Slave config %u does not exist!\n", fp@990: data.config_index); fp@990: retval = -EINVAL; fp@990: break; fp@990: } fp@990: fp@990: if (data.direction > EC_DIR_INPUT) { fp@990: EC_ERR("Invalid direction %u!\n", data.direction); fp@990: retval = -EINVAL; fp@990: break; fp@990: } fp@990: fp@990: if (!(pdo = ec_pdo_list_find_pdo_by_pos_const( fp@990: &sc->pdos[data.direction], data.pdo_pos))) { fp@990: EC_ERR("Invalid Pdo position!\n"); fp@990: retval = -EINVAL; fp@990: break; fp@990: } fp@990: fp@990: if (!(entry = ec_pdo_find_entry_by_pos_const( fp@990: pdo, data.entry_pos))) { fp@990: EC_ERR("Entry not found!\n"); fp@990: retval = -EINVAL; fp@990: break; fp@990: } fp@990: fp@990: data.index = entry->index; fp@990: data.subindex = entry->subindex; fp@990: data.bit_length = entry->bit_length; fp@990: if (entry->name) { fp@990: strncpy(data.name, entry->name, EC_IOCTL_STRING_SIZE); fp@990: data.name[EC_IOCTL_STRING_SIZE - 1] = 0; fp@990: } else { fp@990: data.name[0] = 0; fp@990: } fp@990: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@990: break; fp@990: } fp@990: fp@990: case EC_IOCTL_CONFIG_SDO: fp@990: { fp@990: ec_ioctl_config_sdo_t data; fp@990: const ec_slave_config_t *sc; fp@990: const ec_sdo_request_t *req; fp@990: fp@990: if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { fp@990: retval = -EFAULT; fp@990: break; fp@990: } fp@990: fp@990: if (!(sc = ec_master_get_config_const( fp@990: master, data.config_index))) { fp@990: EC_ERR("Slave config %u does not exist!\n", fp@990: data.config_index); fp@990: retval = -EINVAL; fp@990: break; fp@990: } fp@990: fp@990: if (!(req = ec_slave_config_get_sdo_by_pos_const( fp@990: sc, data.sdo_pos))) { fp@990: EC_ERR("Invalid Sdo position!\n"); fp@990: retval = -EINVAL; fp@990: break; fp@990: } fp@990: fp@990: data.index = req->index; fp@990: data.subindex = req->subindex; fp@990: data.size = req->data_size; fp@990: memcpy(&data.data, req->data, min((u32) data.size, (u32) 4)); fp@990: fp@999: if (copy_to_user((void __user *) arg, &data, sizeof(data))) fp@999: retval = -EFAULT; fp@990: break; fp@990: } fp@990: fp@922: default: fp@972: retval = -ENOTTY; fp@922: } fp@935: fp@935: return retval; fp@935: } fp@935: fp@935: /*****************************************************************************/