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@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@935:         EC_DBG("ioctl(filp = %x, cmd = %u, arg = %u)\n",
fp@935:                 (u32) filp, (u32) cmd, (u32) arg);
fp@935: 
fp@935:     // FIXME lock
fp@935:     
fp@922:     switch (cmd) {
fp@922:         case EC_IOCTL_SLAVE_COUNT:
fp@935:             retval = master->slave_count;
fp@935:             break;
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@935:                 data.alias = slave->sii.alias;
fp@935:                 data.state = slave->current_state;
fp@935: 
fp@935:                 data.sync_count = slave->sii.sync_count;
fp@935: 
fp@935:                 if (slave->sii.name) {
fp@935:                     strncpy(data.name, slave->sii.name,
fp@935:                             EC_IOCTL_SLAVE_NAME_SIZE);
fp@935:                     data.name[EC_IOCTL_SLAVE_NAME_SIZE - 1] = 0;
fp@935:                 } else {
fp@935:                     data.name[0] = 0;
fp@935:                 }
fp@935: 
fp@935:                 if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
fp@935:                     retval = -EFAULT;
fp@935:                     break;
fp@935:                 }
fp@935: 
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@935:                 if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
fp@935:                     retval = -EFAULT;
fp@935:                     break;
fp@935:                 }
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@935:                     strncpy(data.name, pdo->name, EC_IOCTL_PDO_NAME_SIZE);
fp@935:                     data.name[EC_IOCTL_PDO_NAME_SIZE - 1] = 0;
fp@935:                 } else {
fp@935:                     data.name[0] = 0;
fp@935:                 }
fp@935: 
fp@935:                 if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
fp@935:                     retval = -EFAULT;
fp@935:                     break;
fp@935:                 }
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@935:                     strncpy(data.name, entry->name,
fp@935:                             EC_IOCTL_PDO_ENTRY_NAME_SIZE);
fp@935:                     data.name[EC_IOCTL_PDO_ENTRY_NAME_SIZE - 1] = 0;
fp@935:                 } else {
fp@935:                     data.name[0] = 0;
fp@935:                 }
fp@935: 
fp@935:                 if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
fp@935:                     retval = -EFAULT;
fp@935:                     break;
fp@935:                 }
fp@935:                 break;
fp@935:             }
fp@935: 
fp@922:         default:
fp@935:             retval = -ENOIOCTLCMD;
fp@922:     }
fp@935: 
fp@935:     return retval;
fp@935: }
fp@935: 
fp@935: /*****************************************************************************/