diff -r af21f0bdc7c9 -r 2b9c78543663 master/ioctl.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/master/ioctl.c Mon Nov 03 15:20:05 2014 +0100 @@ -0,0 +1,4613 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License version 2, as + * published by the Free Software Foundation. + * + * The IgH EtherCAT Master is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General + * Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * --- + * + * The license mentioned above concerns the source code only. Using the + * EtherCAT technology and brand is only permitted in compliance with the + * industrial property and similar rights of Beckhoff Automation GmbH. + * + *****************************************************************************/ + +/** + \file + EtherCAT master character device. +*/ + +/*****************************************************************************/ + +#include +#include + +#include "master.h" +#include "slave_config.h" +#include "voe_handler.h" +#include "ethernet.h" +#include "ioctl.h" + +/** Set to 1 to enable ioctl() latency tracing. + * + * Requires CPU timestamp counter! + */ +#define DEBUG_LATENCY 0 + +/** Optional compiler attributes fo ioctl() functions. + */ +#if 0 +#define ATTRIBUTES __attribute__ ((__noinline__)) +#else +#define ATTRIBUTES +#endif + +/*****************************************************************************/ + +/** Copies a string to an ioctl structure. + */ +static void ec_ioctl_strcpy( + char *target, /**< Target. */ + const char *source /**< Source. */ + ) +{ + if (source) { + strncpy(target, source, EC_IOCTL_STRING_SIZE); + target[EC_IOCTL_STRING_SIZE - 1] = 0; + } else { + target[0] = 0; + } +} + +/*****************************************************************************/ + +/** Get module information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_module( + void *arg /**< Userspace address to store the results. */ + ) +{ + ec_ioctl_module_t data; + + data.ioctl_version_magic = EC_IOCTL_VERSION_MAGIC; + data.master_count = ec_master_count(); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get master information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_master( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< Userspace address to store the results. */ + ) +{ + ec_ioctl_master_t io; + unsigned int dev_idx, j; + + if (down_interruptible(&master->master_sem)) { + return -EINTR; + } + + io.slave_count = master->slave_count; + io.config_count = ec_master_config_count(master); + io.domain_count = ec_master_domain_count(master); +#ifdef EC_EOE + io.eoe_handler_count = ec_master_eoe_handler_count(master); +#endif + io.phase = (uint8_t) master->phase; + io.active = (uint8_t) master->active; + io.scan_busy = master->scan_busy; + + up(&master->master_sem); + + if (down_interruptible(&master->device_sem)) { + return -EINTR; + } + + for (dev_idx = EC_DEVICE_MAIN; + dev_idx < ec_master_num_devices(master); dev_idx++) { + ec_device_t *device = &master->devices[dev_idx]; + + if (device->dev) { + memcpy(io.devices[dev_idx].address, device->dev->dev_addr, + ETH_ALEN); + } else { + memcpy(io.devices[dev_idx].address, master->macs[dev_idx], + ETH_ALEN); + } + io.devices[dev_idx].attached = device->dev ? 1 : 0; + io.devices[dev_idx].link_state = device->link_state ? 1 : 0; + io.devices[dev_idx].tx_count = device->tx_count; + io.devices[dev_idx].rx_count = device->rx_count; + io.devices[dev_idx].tx_bytes = device->tx_bytes; + io.devices[dev_idx].rx_bytes = device->rx_bytes; + io.devices[dev_idx].tx_errors = device->tx_errors; + for (j = 0; j < EC_RATE_COUNT; j++) { + io.devices[dev_idx].tx_frame_rates[j] = + device->tx_frame_rates[j]; + io.devices[dev_idx].rx_frame_rates[j] = + device->rx_frame_rates[j]; + io.devices[dev_idx].tx_byte_rates[j] = + device->tx_byte_rates[j]; + io.devices[dev_idx].rx_byte_rates[j] = + device->rx_byte_rates[j]; + } + } + io.num_devices = ec_master_num_devices(master); + + io.tx_count = master->device_stats.tx_count; + io.rx_count = master->device_stats.rx_count; + io.tx_bytes = master->device_stats.tx_bytes; + io.rx_bytes = master->device_stats.rx_bytes; + for (j = 0; j < EC_RATE_COUNT; j++) { + io.tx_frame_rates[j] = + master->device_stats.tx_frame_rates[j]; + io.rx_frame_rates[j] = + master->device_stats.rx_frame_rates[j]; + io.tx_byte_rates[j] = + master->device_stats.tx_byte_rates[j]; + io.rx_byte_rates[j] = + master->device_stats.rx_byte_rates[j]; + io.loss_rates[j] = + master->device_stats.loss_rates[j]; + } + + up(&master->device_sem); + + io.app_time = master->app_time; + io.ref_clock = + master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff; + + if (copy_to_user((void __user *) arg, &io, sizeof(io))) { + return -EFAULT; + } + + return 0; +} + +/*****************************************************************************/ + +/** Get slave information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< Userspace address to store the results. */ + ) +{ + ec_ioctl_slave_t data; + const ec_slave_t *slave; + int i; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(slave = ec_master_find_slave_const( + master, 0, data.position))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", data.position); + return -EINVAL; + } + + data.device_index = slave->device_index; + data.vendor_id = slave->sii.vendor_id; + data.product_code = slave->sii.product_code; + data.revision_number = slave->sii.revision_number; + data.serial_number = slave->sii.serial_number; + data.alias = slave->effective_alias; + data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset; + data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size; + data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset; + data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size; + data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset; + data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size; + data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset; + data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size; + data.mailbox_protocols = slave->sii.mailbox_protocols; + data.has_general_category = slave->sii.has_general; + data.coe_details = slave->sii.coe_details; + data.general_flags = slave->sii.general_flags; + data.current_on_ebus = slave->sii.current_on_ebus; + for (i = 0; i < EC_MAX_PORTS; i++) { + data.ports[i].desc = slave->ports[i].desc; + data.ports[i].link.link_up = slave->ports[i].link.link_up; + data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed; + data.ports[i].link.signal_detected = + slave->ports[i].link.signal_detected; + data.ports[i].receive_time = slave->ports[i].receive_time; + if (slave->ports[i].next_slave) { + data.ports[i].next_slave = + slave->ports[i].next_slave->ring_position; + } else { + data.ports[i].next_slave = 0xffff; + } + data.ports[i].delay_to_next_dc = slave->ports[i].delay_to_next_dc; + } + data.fmmu_bit = slave->base_fmmu_bit_operation; + data.dc_supported = slave->base_dc_supported; + data.dc_range = slave->base_dc_range; + data.has_dc_system_time = slave->has_dc_system_time; + data.transmission_delay = slave->transmission_delay; + data.al_state = slave->current_state; + data.error_flag = slave->error_flag; + + data.sync_count = slave->sii.sync_count; + data.sdo_count = ec_slave_sdo_count(slave); + data.sii_nwords = slave->sii_nwords; + ec_ioctl_strcpy(data.group, slave->sii.group); + ec_ioctl_strcpy(data.image, slave->sii.image); + ec_ioctl_strcpy(data.order, slave->sii.order); + ec_ioctl_strcpy(data.name, slave->sii.name); + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get slave sync manager information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_sync( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< Userspace address to store the results. */ + ) +{ + ec_ioctl_slave_sync_t data; + const ec_slave_t *slave; + const ec_sync_t *sync; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(slave = ec_master_find_slave_const( + master, 0, data.slave_position))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", + data.slave_position); + return -EINVAL; + } + + if (data.sync_index >= slave->sii.sync_count) { + up(&master->master_sem); + EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n", + data.sync_index); + return -EINVAL; + } + + sync = &slave->sii.syncs[data.sync_index]; + + data.physical_start_address = sync->physical_start_address; + data.default_size = sync->default_length; + data.control_register = sync->control_register; + data.enable = sync->enable; + data.pdo_count = ec_pdo_list_count(&sync->pdos); + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get slave sync manager PDO information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_sync_pdo( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< Userspace address to store the results. */ + ) +{ + ec_ioctl_slave_sync_pdo_t data; + const ec_slave_t *slave; + const ec_sync_t *sync; + const ec_pdo_t *pdo; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(slave = ec_master_find_slave_const( + master, 0, data.slave_position))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", + data.slave_position); + return -EINVAL; + } + + if (data.sync_index >= slave->sii.sync_count) { + up(&master->master_sem); + EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n", + data.sync_index); + return -EINVAL; + } + + sync = &slave->sii.syncs[data.sync_index]; + if (!(pdo = ec_pdo_list_find_pdo_by_pos_const( + &sync->pdos, data.pdo_pos))) { + up(&master->master_sem); + EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with " + "position %u!\n", data.sync_index, data.pdo_pos); + return -EINVAL; + } + + data.index = pdo->index; + data.entry_count = ec_pdo_entry_count(pdo); + ec_ioctl_strcpy(data.name, pdo->name); + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get slave sync manager PDO entry information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_sync_pdo_entry( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< Userspace address to store the results. */ + ) +{ + ec_ioctl_slave_sync_pdo_entry_t data; + const ec_slave_t *slave; + const ec_sync_t *sync; + const ec_pdo_t *pdo; + const ec_pdo_entry_t *entry; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(slave = ec_master_find_slave_const( + master, 0, data.slave_position))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", + data.slave_position); + return -EINVAL; + } + + if (data.sync_index >= slave->sii.sync_count) { + up(&master->master_sem); + EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n", + data.sync_index); + return -EINVAL; + } + + sync = &slave->sii.syncs[data.sync_index]; + if (!(pdo = ec_pdo_list_find_pdo_by_pos_const( + &sync->pdos, data.pdo_pos))) { + up(&master->master_sem); + EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with " + "position %u!\n", data.sync_index, data.pdo_pos); + return -EINVAL; + } + + if (!(entry = ec_pdo_find_entry_by_pos_const( + pdo, data.entry_pos))) { + up(&master->master_sem); + EC_SLAVE_ERR(slave, "PDO 0x%04X does not contain an entry with " + "position %u!\n", data.pdo_pos, data.entry_pos); + return -EINVAL; + } + + data.index = entry->index; + data.subindex = entry->subindex; + data.bit_length = entry->bit_length; + ec_ioctl_strcpy(data.name, entry->name); + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get domain information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_domain( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< Userspace address to store the results. */ + ) +{ + ec_ioctl_domain_t data; + const ec_domain_t *domain; + unsigned int dev_idx; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(domain = ec_master_find_domain_const(master, data.index))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Domain %u does not exist!\n", data.index); + return -EINVAL; + } + + data.data_size = domain->data_size; + data.logical_base_address = domain->logical_base_address; + for (dev_idx = EC_DEVICE_MAIN; + dev_idx < ec_master_num_devices(domain->master); dev_idx++) { + data.working_counter[dev_idx] = domain->working_counter[dev_idx]; + } + data.expected_working_counter = domain->expected_working_counter; + data.fmmu_count = ec_domain_fmmu_count(domain); + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get domain FMMU information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_domain_fmmu( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< Userspace address to store the results. */ + ) +{ + ec_ioctl_domain_fmmu_t data; + const ec_domain_t *domain; + const ec_fmmu_config_t *fmmu; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(domain = ec_master_find_domain_const(master, data.domain_index))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Domain %u does not exist!\n", + data.domain_index); + return -EINVAL; + } + + if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Domain %u has less than %u" + " fmmu configurations.\n", + data.domain_index, data.fmmu_index + 1); + return -EINVAL; + } + + data.slave_config_alias = fmmu->sc->alias; + data.slave_config_position = fmmu->sc->position; + data.sync_index = fmmu->sync_index; + data.dir = fmmu->dir; + data.logical_address = fmmu->logical_start_address; + data.data_size = fmmu->data_size; + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get domain data. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_domain_data( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< Userspace address to store the results. */ + ) +{ + ec_ioctl_domain_data_t data; + const ec_domain_t *domain; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(domain = ec_master_find_domain_const(master, data.domain_index))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Domain %u does not exist!\n", + data.domain_index); + return -EINVAL; + } + + if (domain->data_size != data.data_size) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Data size mismatch %u/%zu!\n", + data.data_size, domain->data_size); + return -EFAULT; + } + + if (copy_to_user((void __user *) data.target, domain->data, + domain->data_size)) { + up(&master->master_sem); + return -EFAULT; + } + + up(&master->master_sem); + return 0; +} + +/*****************************************************************************/ + +/** Set master debug level. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_master_debug( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + return ec_master_debug_level(master, (unsigned long) arg); +} + +/*****************************************************************************/ + +/** Issue a bus scan. + * + * \return Always zero (success). + */ +static ATTRIBUTES int ec_ioctl_master_rescan( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + master->fsm.rescan_required = 1; + return 0; +} + +/*****************************************************************************/ + +/** Set slave state. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_state( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_state_t data; + ec_slave_t *slave; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(slave = ec_master_find_slave( + master, 0, data.slave_position))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", + data.slave_position); + return -EINVAL; + } + + ec_slave_request_state(slave, data.al_state); + + up(&master->master_sem); + return 0; +} + +/*****************************************************************************/ + +/** Get slave SDO information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_sdo( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_sdo_t data; + const ec_slave_t *slave; + const ec_sdo_t *sdo; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(slave = ec_master_find_slave_const( + master, 0, data.slave_position))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", + data.slave_position); + return -EINVAL; + } + + if (!(sdo = ec_slave_get_sdo_by_pos_const( + slave, data.sdo_position))) { + up(&master->master_sem); + EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", data.sdo_position); + return -EINVAL; + } + + data.sdo_index = sdo->index; + data.max_subindex = sdo->max_subindex; + ec_ioctl_strcpy(data.name, sdo->name); + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get slave SDO entry information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_sdo_entry( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_sdo_entry_t data; + const ec_slave_t *slave; + const ec_sdo_t *sdo; + const ec_sdo_entry_t *entry; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(slave = ec_master_find_slave_const( + master, 0, data.slave_position))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", + data.slave_position); + return -EINVAL; + } + + if (data.sdo_spec <= 0) { + if (!(sdo = ec_slave_get_sdo_by_pos_const( + slave, -data.sdo_spec))) { + up(&master->master_sem); + EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", -data.sdo_spec); + return -EINVAL; + } + } else { + if (!(sdo = ec_slave_get_sdo_const( + slave, data.sdo_spec))) { + up(&master->master_sem); + EC_SLAVE_ERR(slave, "SDO 0x%04X does not exist!\n", + data.sdo_spec); + return -EINVAL; + } + } + + if (!(entry = ec_sdo_get_entry_const( + sdo, data.sdo_entry_subindex))) { + up(&master->master_sem); + EC_SLAVE_ERR(slave, "SDO entry 0x%04X:%02X does not exist!\n", + sdo->index, data.sdo_entry_subindex); + return -EINVAL; + } + + data.data_type = entry->data_type; + data.bit_length = entry->bit_length; + data.read_access[EC_SDO_ENTRY_ACCESS_PREOP] = + entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP]; + data.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = + entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP]; + data.read_access[EC_SDO_ENTRY_ACCESS_OP] = + entry->read_access[EC_SDO_ENTRY_ACCESS_OP]; + data.write_access[EC_SDO_ENTRY_ACCESS_PREOP] = + entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP]; + data.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = + entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP]; + data.write_access[EC_SDO_ENTRY_ACCESS_OP] = + entry->write_access[EC_SDO_ENTRY_ACCESS_OP]; + ec_ioctl_strcpy(data.description, entry->description); + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Upload SDO. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_sdo_upload( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_sdo_upload_t data; + uint8_t *target; + int ret; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (!(target = kmalloc(data.target_size, GFP_KERNEL))) { + EC_MASTER_ERR(master, "Failed to allocate %zu bytes" + " for SDO upload.\n", data.target_size); + return -ENOMEM; + } + + ret = ecrt_master_sdo_upload(master, data.slave_position, + data.sdo_index, data.sdo_entry_subindex, target, + data.target_size, &data.data_size, &data.abort_code); + + if (!ret) { + if (copy_to_user((void __user *) data.target, + target, data.data_size)) { + kfree(target); + return -EFAULT; + } + } + + kfree(target); + + if (__copy_to_user((void __user *) arg, &data, sizeof(data))) { + return -EFAULT; + } + + return ret; +} + +/*****************************************************************************/ + +/** Download SDO. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_sdo_download( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_sdo_download_t data; + uint8_t *sdo_data; + int retval; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (!(sdo_data = kmalloc(data.data_size, GFP_KERNEL))) { + EC_MASTER_ERR(master, "Failed to allocate %zu bytes" + " for SDO download.\n", data.data_size); + return -ENOMEM; + } + + if (copy_from_user(sdo_data, (void __user *) data.data, data.data_size)) { + kfree(sdo_data); + return -EFAULT; + } + + if (data.complete_access) { + retval = ecrt_master_sdo_download_complete(master, data.slave_position, + data.sdo_index, sdo_data, data.data_size, &data.abort_code); + } else { + retval = ecrt_master_sdo_download(master, data.slave_position, + data.sdo_index, data.sdo_entry_subindex, sdo_data, + data.data_size, &data.abort_code); + } + + kfree(sdo_data); + + if (__copy_to_user((void __user *) arg, &data, sizeof(data))) { + retval = -EFAULT; + } + + return retval; +} + +/*****************************************************************************/ + +/** Read a slave's SII. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_sii_read( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_sii_t data; + const ec_slave_t *slave; + int retval; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(slave = ec_master_find_slave_const( + master, 0, data.slave_position))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", + data.slave_position); + return -EINVAL; + } + + if (!data.nwords + || data.offset + data.nwords > slave->sii_nwords) { + up(&master->master_sem); + EC_SLAVE_ERR(slave, "Invalid SII read offset/size %u/%u for slave SII" + " size %zu!\n", data.offset, data.nwords, slave->sii_nwords); + return -EINVAL; + } + + if (copy_to_user((void __user *) data.words, + slave->sii_words + data.offset, data.nwords * 2)) + retval = -EFAULT; + else + retval = 0; + + up(&master->master_sem); + return retval; +} + +/*****************************************************************************/ + +/** Write a slave's SII. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_sii_write( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_sii_t data; + ec_slave_t *slave; + unsigned int byte_size; + uint16_t *words; + ec_sii_write_request_t request; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (!data.nwords) { + return 0; + } + + byte_size = sizeof(uint16_t) * data.nwords; + if (!(words = kmalloc(byte_size, GFP_KERNEL))) { + EC_MASTER_ERR(master, "Failed to allocate %u bytes" + " for SII contents.\n", byte_size); + return -ENOMEM; + } + + if (copy_from_user(words, + (void __user *) data.words, byte_size)) { + kfree(words); + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) { + kfree(words); + return -EINTR; + } + + if (!(slave = ec_master_find_slave( + master, 0, data.slave_position))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", + data.slave_position); + kfree(words); + return -EINVAL; + } + + // init SII write request + INIT_LIST_HEAD(&request.list); + request.slave = slave; + request.words = words; + request.offset = data.offset; + request.nwords = data.nwords; + request.state = EC_INT_REQUEST_QUEUED; + + // schedule SII write request. + list_add_tail(&request.list, &master->sii_requests); + + up(&master->master_sem); + + // wait for processing through FSM + if (wait_event_interruptible(master->request_queue, + request.state != EC_INT_REQUEST_QUEUED)) { + // interrupted by signal + down(&master->master_sem); + if (request.state == EC_INT_REQUEST_QUEUED) { + // abort request + list_del(&request.list); + up(&master->master_sem); + kfree(words); + return -EINTR; + } + up(&master->master_sem); + } + + // wait until master FSM has finished processing + wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY); + + kfree(words); + + return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO; +} + +/*****************************************************************************/ + +/** Read a slave's registers. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_reg_read( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_reg_t io; + ec_slave_t *slave; + ec_reg_request_t request; + int ret; + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + if (!io.size) { + return 0; + } + + // init register request + ret = ec_reg_request_init(&request, io.size); + if (ret) { + return ret; + } + + ecrt_reg_request_read(&request, io.address, io.size); + + if (down_interruptible(&master->master_sem)) { + ec_reg_request_clear(&request); + return -EINTR; + } + + if (!(slave = ec_master_find_slave( + master, 0, io.slave_position))) { + up(&master->master_sem); + ec_reg_request_clear(&request); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", + io.slave_position); + return -EINVAL; + } + + // schedule request. + list_add_tail(&request.list, &slave->reg_requests); + + up(&master->master_sem); + + // wait for processing through FSM + if (wait_event_interruptible(master->request_queue, + request.state != EC_INT_REQUEST_QUEUED)) { + // interrupted by signal + down(&master->master_sem); + if (request.state == EC_INT_REQUEST_QUEUED) { + // abort request + list_del(&request.list); + up(&master->master_sem); + ec_reg_request_clear(&request); + return -EINTR; + } + up(&master->master_sem); + } + + // wait until master FSM has finished processing + wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY); + + if (request.state == EC_INT_REQUEST_SUCCESS) { + if (copy_to_user((void __user *) io.data, request.data, io.size)) { + return -EFAULT; + } + } + ec_reg_request_clear(&request); + + return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO; +} + +/*****************************************************************************/ + +/** Write a slave's registers. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_reg_write( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_reg_t io; + ec_slave_t *slave; + ec_reg_request_t request; + int ret; + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + if (!io.size) { + return 0; + } + + // init register request + ret = ec_reg_request_init(&request, io.size); + if (ret) { + return ret; + } + + if (copy_from_user(request.data, (void __user *) io.data, io.size)) { + ec_reg_request_clear(&request); + return -EFAULT; + } + + ecrt_reg_request_write(&request, io.address, io.size); + + if (down_interruptible(&master->master_sem)) { + ec_reg_request_clear(&request); + return -EINTR; + } + + if (io.emergency) { + request.ring_position = io.slave_position; + // schedule request. + list_add_tail(&request.list, &master->emerg_reg_requests); + } + else { + if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) { + up(&master->master_sem); + ec_reg_request_clear(&request); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", + io.slave_position); + return -EINVAL; + } + + // schedule request. + list_add_tail(&request.list, &slave->reg_requests); + } + + up(&master->master_sem); + + // wait for processing through FSM + if (wait_event_interruptible(master->request_queue, + request.state != EC_INT_REQUEST_QUEUED)) { + // interrupted by signal + down(&master->master_sem); + if (request.state == EC_INT_REQUEST_QUEUED) { + // abort request + list_del(&request.list); + up(&master->master_sem); + ec_reg_request_clear(&request); + return -EINTR; + } + up(&master->master_sem); + } + + // wait until master FSM has finished processing + wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY); + + ec_reg_request_clear(&request); + + return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO; +} + +/*****************************************************************************/ + +/** Get slave configuration information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_config( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_config_t data; + const ec_slave_config_t *sc; + uint8_t i; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config_const( + master, data.config_index))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave config %u does not exist!\n", + data.config_index); + return -EINVAL; + } + + data.alias = sc->alias; + data.position = sc->position; + data.vendor_id = sc->vendor_id; + data.product_code = sc->product_code; + for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) { + data.syncs[i].dir = sc->sync_configs[i].dir; + data.syncs[i].watchdog_mode = sc->sync_configs[i].watchdog_mode; + data.syncs[i].pdo_count = + ec_pdo_list_count(&sc->sync_configs[i].pdos); + } + data.watchdog_divider = sc->watchdog_divider; + data.watchdog_intervals = sc->watchdog_intervals; + data.sdo_count = ec_slave_config_sdo_count(sc); + data.idn_count = ec_slave_config_idn_count(sc); + data.slave_position = sc->slave ? sc->slave->ring_position : -1; + data.dc_assign_activate = sc->dc_assign_activate; + for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) { + data.dc_sync[i] = sc->dc_sync[i]; + } + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get slave configuration PDO information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_config_pdo( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_config_pdo_t data; + const ec_slave_config_t *sc; + const ec_pdo_t *pdo; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (data.sync_index >= EC_MAX_SYNC_MANAGERS) { + EC_MASTER_ERR(master, "Invalid sync manager index %u!\n", + data.sync_index); + return -EINVAL; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config_const( + master, data.config_index))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave config %u does not exist!\n", + data.config_index); + return -EINVAL; + } + + if (!(pdo = ec_pdo_list_find_pdo_by_pos_const( + &sc->sync_configs[data.sync_index].pdos, + data.pdo_pos))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Invalid PDO position!\n"); + return -EINVAL; + } + + data.index = pdo->index; + data.entry_count = ec_pdo_entry_count(pdo); + ec_ioctl_strcpy(data.name, pdo->name); + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get slave configuration PDO entry information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_config_pdo_entry( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_config_pdo_entry_t data; + const ec_slave_config_t *sc; + const ec_pdo_t *pdo; + const ec_pdo_entry_t *entry; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (data.sync_index >= EC_MAX_SYNC_MANAGERS) { + EC_MASTER_ERR(master, "Invalid sync manager index %u!\n", + data.sync_index); + return -EINVAL; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config_const( + master, data.config_index))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave config %u does not exist!\n", + data.config_index); + return -EINVAL; + } + + if (!(pdo = ec_pdo_list_find_pdo_by_pos_const( + &sc->sync_configs[data.sync_index].pdos, + data.pdo_pos))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Invalid PDO position!\n"); + return -EINVAL; + } + + if (!(entry = ec_pdo_find_entry_by_pos_const( + pdo, data.entry_pos))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Entry not found!\n"); + return -EINVAL; + } + + data.index = entry->index; + data.subindex = entry->subindex; + data.bit_length = entry->bit_length; + ec_ioctl_strcpy(data.name, entry->name); + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get slave configuration SDO information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_config_sdo( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_config_sdo_t *ioctl; + const ec_slave_config_t *sc; + const ec_sdo_request_t *req; + + if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) { + return -ENOMEM; + } + + if (copy_from_user(ioctl, (void __user *) arg, sizeof(*ioctl))) { + kfree(ioctl); + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) { + kfree(ioctl); + return -EINTR; + } + + if (!(sc = ec_master_get_config_const( + master, ioctl->config_index))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave config %u does not exist!\n", + ioctl->config_index); + kfree(ioctl); + return -EINVAL; + } + + if (!(req = ec_slave_config_get_sdo_by_pos_const( + sc, ioctl->sdo_pos))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Invalid SDO position!\n"); + kfree(ioctl); + return -EINVAL; + } + + ioctl->index = req->index; + ioctl->subindex = req->subindex; + ioctl->size = req->data_size; + memcpy(ioctl->data, req->data, + min((u32) ioctl->size, (u32) EC_MAX_SDO_DATA_SIZE)); + ioctl->complete_access = req->complete_access; + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, ioctl, sizeof(*ioctl))) { + kfree(ioctl); + return -EFAULT; + } + + kfree(ioctl); + return 0; +} + +/*****************************************************************************/ + +/** Get slave configuration IDN information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_config_idn( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_config_idn_t *ioctl; + const ec_slave_config_t *sc; + const ec_soe_request_t *req; + + if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) { + return -ENOMEM; + } + + if (copy_from_user(ioctl, (void __user *) arg, sizeof(*ioctl))) { + kfree(ioctl); + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) { + kfree(ioctl); + return -EINTR; + } + + if (!(sc = ec_master_get_config_const( + master, ioctl->config_index))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave config %u does not exist!\n", + ioctl->config_index); + kfree(ioctl); + return -EINVAL; + } + + if (!(req = ec_slave_config_get_idn_by_pos_const( + sc, ioctl->idn_pos))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Invalid IDN position!\n"); + kfree(ioctl); + return -EINVAL; + } + + ioctl->drive_no = req->drive_no; + ioctl->idn = req->idn; + ioctl->state = req->state; + ioctl->size = req->data_size; + memcpy(ioctl->data, req->data, + min((u32) ioctl->size, (u32) EC_MAX_IDN_DATA_SIZE)); + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, ioctl, sizeof(*ioctl))) { + kfree(ioctl); + return -EFAULT; + } + + kfree(ioctl); + return 0; +} + +/*****************************************************************************/ + +#ifdef EC_EOE + +/** Get EoE handler information. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_eoe_handler( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_eoe_handler_t data; + const ec_eoe_t *eoe; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(eoe = ec_master_get_eoe_handler_const(master, data.eoe_index))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "EoE handler %u does not exist!\n", + data.eoe_index); + return -EINVAL; + } + + if (eoe->slave) { + data.slave_position = eoe->slave->ring_position; + } else { + data.slave_position = 0xffff; + } + snprintf(data.name, EC_DATAGRAM_NAME_SIZE, eoe->dev->name); + data.open = eoe->opened; + data.rx_bytes = eoe->stats.tx_bytes; + data.rx_rate = eoe->tx_rate; + data.tx_bytes = eoe->stats.rx_bytes; + data.tx_rate = eoe->tx_rate; + data.tx_queued_frames = eoe->tx_queued_frames; + data.tx_queue_size = eoe->tx_queue_size; + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +#endif + +/*****************************************************************************/ + +/** Request the master from userspace. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_request( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_master_t *m; + int ret = 0; + + m = ecrt_request_master_err(master->index); + if (IS_ERR(m)) { + ret = PTR_ERR(m); + } else { + ctx->requested = 1; + } + + return ret; +} + +/*****************************************************************************/ + +/** Create a domain. + * + * \return Domain index on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_create_domain( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_domain_t *domain; + + if (unlikely(!ctx->requested)) + return -EPERM; + + domain = ecrt_master_create_domain_err(master); + if (IS_ERR(domain)) + return PTR_ERR(domain); + + return domain->index; +} + +/*****************************************************************************/ + +/** Create a slave configuration. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_create_slave_config( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_config_t data; + ec_slave_config_t *sc, *entry; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + sc = ecrt_master_slave_config_err(master, data.alias, data.position, + data.vendor_id, data.product_code); + if (IS_ERR(sc)) + return PTR_ERR(sc); + + data.config_index = 0; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + list_for_each_entry(entry, &master->configs, list) { + if (entry == sc) + break; + data.config_index++; + } + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Select the DC reference clock. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_select_ref_clock( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + unsigned long config_index = (unsigned long) arg; + ec_slave_config_t *sc = NULL; + int ret = 0; + + if (unlikely(!ctx->requested)) { + ret = -EPERM; + goto out_return; + } + + if (down_interruptible(&master->master_sem)) { + ret = -EINTR; + goto out_return; + } + + if (config_index != 0xFFFFFFFF) { + if (!(sc = ec_master_get_config(master, config_index))) { + ret = -ENOENT; + goto out_up; + } + } + + ecrt_master_select_reference_clock(master, sc); + +out_up: + up(&master->master_sem); +out_return: + return ret; +} + +/*****************************************************************************/ + +/** Activates the master. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_activate( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_master_activate_t io; + ec_domain_t *domain; + off_t offset; + int ret; + + if (unlikely(!ctx->requested)) + return -EPERM; + + io.process_data = NULL; + + /* Get the sum of the domains' process data sizes. */ + + ctx->process_data_size = 0; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + list_for_each_entry(domain, &master->domains, list) { + ctx->process_data_size += ecrt_domain_size(domain); + } + + up(&master->master_sem); + + if (ctx->process_data_size) { + ctx->process_data = vmalloc(ctx->process_data_size); + if (!ctx->process_data) { + ctx->process_data_size = 0; + return -ENOMEM; + } + + /* Set the memory as external process data memory for the + * domains. + */ + offset = 0; + list_for_each_entry(domain, &master->domains, list) { + ecrt_domain_external_memory(domain, + ctx->process_data + offset); + offset += ecrt_domain_size(domain); + } + +#ifdef EC_IOCTL_RTDM + /* RTDM uses a different approach for memory-mapping, which has to be + * initiated by the kernel. + */ + ret = ec_rtdm_mmap(ctx, &io.process_data); + if (ret < 0) { + EC_MASTER_ERR(master, "Failed to map process data" + " memory to user space (code %i).\n", ret); + return ret; + } +#endif + } + + io.process_data_size = ctx->process_data_size; + +#ifndef EC_IOCTL_RTDM + ecrt_master_callbacks(master, ec_master_internal_send_cb, + ec_master_internal_receive_cb, master); +#endif + + ret = ecrt_master_activate(master); + if (ret < 0) + return ret; + + if (copy_to_user((void __user *) arg, &io, + sizeof(ec_ioctl_master_activate_t))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Deactivates the master. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_deactivate( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + if (unlikely(!ctx->requested)) + return -EPERM; + + ecrt_master_deactivate(master); + return 0; +} + +/*****************************************************************************/ + +/** Set max. number of databytes in a cycle + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_set_send_interval( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + size_t send_interval; + + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + if (copy_from_user(&send_interval, (void __user *) arg, + sizeof(send_interval))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + ec_master_set_send_interval(master, send_interval); + + up(&master->master_sem); + return 0; +} + +/*****************************************************************************/ + +/** Send frames. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_send( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + ecrt_master_send(master); + return 0; +} + +/*****************************************************************************/ + +/** Receive frames. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_receive( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + ecrt_master_receive(master); + return 0; +} + +/*****************************************************************************/ + +/** Get the master state. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_master_state( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_master_state_t data; + + ecrt_master_state(master, &data); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get the link state. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_master_link_state( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_link_state_t ioctl; + ec_master_link_state_t state; + int ret; + + if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) { + return -EFAULT; + } + + ret = ecrt_master_link_state(master, ioctl.dev_idx, &state); + if (ret < 0) { + return ret; + } + + if (copy_to_user((void __user *) ioctl.state, &state, sizeof(state))) { + return -EFAULT; + } + + return 0; +} + +/*****************************************************************************/ + +/** Set the master DC application time. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_app_time( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_app_time_t data; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + ecrt_master_application_time(master, data.app_time); + return 0; +} + +/*****************************************************************************/ + +/** Sync the reference clock. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sync_ref( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + ecrt_master_sync_reference_clock(master); + return 0; +} + +/*****************************************************************************/ + +/** Sync the slave clocks. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sync_slaves( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + ecrt_master_sync_slave_clocks(master); + return 0; +} + +/*****************************************************************************/ + +/** Get the system time of the reference clock. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_ref_clock_time( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + uint32_t time; + int ret; + + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + ret = ecrt_master_reference_clock_time(master, &time); + if (ret) { + return ret; + } + + if (copy_to_user((void __user *) arg, &time, sizeof(time))) { + return -EFAULT; + } + + return 0; +} + +/*****************************************************************************/ + +/** Queue the sync monitoring datagram. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sync_mon_queue( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + ecrt_master_sync_monitor_queue(master); + return 0; +} + +/*****************************************************************************/ + +/** Processes the sync monitoring datagram. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sync_mon_process( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + uint32_t time_diff; + + if (unlikely(!ctx->requested)) + return -EPERM; + + time_diff = ecrt_master_sync_monitor_process(master); + + if (copy_to_user((void __user *) arg, &time_diff, sizeof(time_diff))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Reset configuration. + * + * \return Always zero (success). + */ +static ATTRIBUTES int ec_ioctl_reset( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + down(&master->master_sem); + ecrt_master_reset(master); + up(&master->master_sem); + return 0; +} + +/*****************************************************************************/ + +/** Configure a sync manager. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_sync( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_config_t data; + ec_slave_config_t *sc; + unsigned int i; + int ret = 0; + + if (unlikely(!ctx->requested)) { + ret = -EPERM; + goto out_return; + } + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + ret = -EFAULT; + goto out_return; + } + + if (down_interruptible(&master->master_sem)) { + ret = -EINTR; + goto out_return; + } + + if (!(sc = ec_master_get_config(master, data.config_index))) { + ret = -ENOENT; + goto out_up; + } + + for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) { + if (data.syncs[i].config_this) { + ret = ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir, + data.syncs[i].watchdog_mode); + if (ret) { + goto out_up; + } + } + } + +out_up: + up(&master->master_sem); +out_return: + return ret; +} + +/*****************************************************************************/ + +/** Configure a slave's watchdogs. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_watchdog( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_config_t data; + ec_slave_config_t *sc; + int ret = 0; + + if (unlikely(!ctx->requested)) { + ret = -EPERM; + goto out_return; + } + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + ret = -EFAULT; + goto out_return; + } + + if (down_interruptible(&master->master_sem)) { + ret = -EINTR; + goto out_return; + } + + if (!(sc = ec_master_get_config(master, data.config_index))) { + ret = -ENOENT; + goto out_up; + } + + ecrt_slave_config_watchdog(sc, + data.watchdog_divider, data.watchdog_intervals); + +out_up: + up(&master->master_sem); +out_return: + return ret; +} + +/*****************************************************************************/ + +/** Add a PDO to the assignment. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_add_pdo( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_config_pdo_t data; + ec_slave_config_t *sc; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ENOENT; + } + + up(&master->master_sem); /** \todo sc could be invalidated */ + + return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index); +} + +/*****************************************************************************/ + +/** Clears the PDO assignment. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_clear_pdos( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_config_pdo_t data; + ec_slave_config_t *sc; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ENOENT; + } + + up(&master->master_sem); /** \todo sc could be invalidated */ + + ecrt_slave_config_pdo_assign_clear(sc, data.sync_index); + return 0; +} + +/*****************************************************************************/ + +/** Add an entry to a PDO's mapping. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_add_entry( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_add_pdo_entry_t data; + ec_slave_config_t *sc; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ENOENT; + } + + up(&master->master_sem); /** \todo sc could be invalidated */ + + return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index, + data.entry_index, data.entry_subindex, data.entry_bit_length); +} + +/*****************************************************************************/ + +/** Clears the mapping of a PDO. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_clear_entries( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_config_pdo_t data; + ec_slave_config_t *sc; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ENOENT; + } + + up(&master->master_sem); /** \todo sc could be invalidated */ + + ecrt_slave_config_pdo_mapping_clear(sc, data.index); + return 0; +} + +/*****************************************************************************/ + +/** Registers a PDO entry. + * + * \return Process data offset on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_reg_pdo_entry( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_reg_pdo_entry_t data; + ec_slave_config_t *sc; + ec_domain_t *domain; + int ret; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ENOENT; + } + + if (!(domain = ec_master_find_domain(master, data.domain_index))) { + up(&master->master_sem); + return -ENOENT; + } + + up(&master->master_sem); /** \todo sc or domain could be invalidated */ + + ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index, + data.entry_subindex, domain, &data.bit_position); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return ret; +} + +/*****************************************************************************/ + +/** Registers a PDO entry by its position. + * + * \return Process data offset on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_reg_pdo_pos( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_reg_pdo_pos_t io; + ec_slave_config_t *sc; + ec_domain_t *domain; + int ret; + + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) { + return -EINTR; + } + + if (!(sc = ec_master_get_config(master, io.config_index))) { + up(&master->master_sem); + return -ENOENT; + } + + if (!(domain = ec_master_find_domain(master, io.domain_index))) { + up(&master->master_sem); + return -ENOENT; + } + + up(&master->master_sem); /** \todo sc or domain could be invalidated */ + + ret = ecrt_slave_config_reg_pdo_entry_pos(sc, io.sync_index, + io.pdo_pos, io.entry_pos, domain, &io.bit_position); + + if (copy_to_user((void __user *) arg, &io, sizeof(io))) + return -EFAULT; + + return ret; +} + +/*****************************************************************************/ + +/** Sets the DC AssignActivate word and the sync signal times. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_dc( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_config_t data; + ec_slave_config_t *sc; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ENOENT; + } + + ecrt_slave_config_dc(sc, data.dc_assign_activate, + data.dc_sync[0].cycle_time, + data.dc_sync[0].shift_time, + data.dc_sync[1].cycle_time, + data.dc_sync[1].shift_time); + + up(&master->master_sem); + + return 0; +} + +/*****************************************************************************/ + +/** Configures an SDO. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_sdo( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sc_sdo_t data; + ec_slave_config_t *sc; + uint8_t *sdo_data = NULL; + int ret; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (!data.size) + return -EINVAL; + + if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) { + return -ENOMEM; + } + + if (copy_from_user(sdo_data, (void __user *) data.data, data.size)) { + kfree(sdo_data); + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) { + kfree(sdo_data); + return -EINTR; + } + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + kfree(sdo_data); + return -ENOENT; + } + + up(&master->master_sem); /** \todo sc could be invalidated */ + + if (data.complete_access) { + ret = ecrt_slave_config_complete_sdo(sc, + data.index, sdo_data, data.size); + } else { + ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data, + data.size); + } + kfree(sdo_data); + return ret; +} + +/*****************************************************************************/ + +/** Set the emergency ring buffer size. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_emerg_size( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sc_emerg_t io; + ec_slave_config_t *sc; + int ret; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) { + return -EINTR; + } + + if (!(sc = ec_master_get_config(master, io.config_index))) { + up(&master->master_sem); + return -ENOENT; + } + + ret = ecrt_slave_config_emerg_size(sc, io.size); + + up(&master->master_sem); + + return ret; +} + +/*****************************************************************************/ + +/** Get an emergency message from the ring. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_emerg_pop( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sc_emerg_t io; + ec_slave_config_t *sc; + u8 msg[EC_COE_EMERGENCY_MSG_SIZE]; + int ret; + + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + /* no locking of master_sem needed, because configuration will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, io.config_index))) { + return -ENOENT; + } + + ret = ecrt_slave_config_emerg_pop(sc, msg); + if (ret < 0) { + return ret; + } + + if (copy_to_user((void __user *) io.target, msg, sizeof(msg))) { + return -EFAULT; + } + + return ret; +} + +/*****************************************************************************/ + +/** Clear the emergency ring. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_emerg_clear( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sc_emerg_t io; + ec_slave_config_t *sc; + + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + /* no locking of master_sem needed, because configuration will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, io.config_index))) { + return -ENOENT; + } + + return ecrt_slave_config_emerg_clear(sc); +} + +/*****************************************************************************/ + +/** Get the number of emergency overruns. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_emerg_overruns( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sc_emerg_t io; + ec_slave_config_t *sc; + int ret; + + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + /* no locking of master_sem needed, because configuration will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, io.config_index))) { + return -ENOENT; + } + + ret = ecrt_slave_config_emerg_overruns(sc); + if (ret < 0) { + return ret; + } + + io.overruns = ret; + + if (copy_to_user((void __user *) arg, &io, sizeof(io))) { + return -EFAULT; + } + + return 0; +} + +/*****************************************************************************/ + +/** Create an SDO request. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_create_sdo_request( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sdo_request_t data; + ec_slave_config_t *sc; + ec_sdo_request_t *req; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + data.request_index = 0; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + sc = ec_master_get_config(master, data.config_index); + if (!sc) { + up(&master->master_sem); + return -ENOENT; + } + + list_for_each_entry(req, &sc->sdo_requests, list) { + data.request_index++; + } + + up(&master->master_sem); /** \todo sc could be invalidated */ + + req = ecrt_slave_config_create_sdo_request_err(sc, data.sdo_index, + data.sdo_subindex, data.size); + if (IS_ERR(req)) + return PTR_ERR(req); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Create a register request. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_create_reg_request( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_reg_request_t io; + ec_slave_config_t *sc; + ec_reg_request_t *reg; + + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + io.request_index = 0; + + if (down_interruptible(&master->master_sem)) { + return -EINTR; + } + + sc = ec_master_get_config(master, io.config_index); + if (!sc) { + up(&master->master_sem); + return -ENOENT; + } + + list_for_each_entry(reg, &sc->reg_requests, list) { + io.request_index++; + } + + up(&master->master_sem); /** \todo sc could be invalidated */ + + reg = ecrt_slave_config_create_reg_request_err(sc, io.mem_size); + if (IS_ERR(reg)) { + return PTR_ERR(reg); + } + + if (copy_to_user((void __user *) arg, &io, sizeof(io))) { + return -EFAULT; + } + + return 0; +} + +/*****************************************************************************/ + +/** Create a VoE handler. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_create_voe_handler( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_voe_t data; + ec_slave_config_t *sc; + ec_voe_handler_t *voe; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + data.voe_index = 0; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + sc = ec_master_get_config(master, data.config_index); + if (!sc) { + up(&master->master_sem); + return -ENOENT; + } + + list_for_each_entry(voe, &sc->voe_handlers, list) { + data.voe_index++; + } + + up(&master->master_sem); /** \todo sc could be invalidated */ + + voe = ecrt_slave_config_create_voe_handler_err(sc, data.size); + if (IS_ERR(voe)) + return PTR_ERR(voe); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Get the slave configuration's state. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_state( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sc_state_t data; + const ec_slave_config_t *sc; + ec_slave_config_state_t state; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + /* no locking of master_sem needed, because sc will not be deleted in the + * meantime. */ + + if (!(sc = ec_master_get_config_const(master, data.config_index))) { + return -ENOENT; + } + + ecrt_slave_config_state(sc, &state); + + if (copy_to_user((void __user *) data.state, &state, sizeof(state))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Configures an IDN. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sc_idn( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sc_idn_t ioctl; + ec_slave_config_t *sc; + uint8_t *data = NULL; + int ret; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) + return -EFAULT; + + if (!ioctl.size) + return -EINVAL; + + if (!(data = kmalloc(ioctl.size, GFP_KERNEL))) { + return -ENOMEM; + } + + if (copy_from_user(data, (void __user *) ioctl.data, ioctl.size)) { + kfree(data); + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) { + kfree(data); + return -EINTR; + } + + if (!(sc = ec_master_get_config(master, ioctl.config_index))) { + up(&master->master_sem); + kfree(data); + return -ENOENT; + } + + up(&master->master_sem); /** \todo sc could be invalidated */ + + ret = ecrt_slave_config_idn( + sc, ioctl.drive_no, ioctl.idn, ioctl.al_state, data, ioctl.size); + kfree(data); + return ret; +} + +/*****************************************************************************/ + +/** Gets the domain's data size. + * + * \return Domain size, or a negative error code. + */ +static ATTRIBUTES int ec_ioctl_domain_size( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + const ec_domain_t *domain; + + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + if (down_interruptible(&master->master_sem)) { + return -EINTR; + } + + list_for_each_entry(domain, &master->domains, list) { + if (domain->index == (unsigned long) arg) { + size_t size = ecrt_domain_size(domain); + up(&master->master_sem); + return size; + } + } + + up(&master->master_sem); + return -ENOENT; +} + +/*****************************************************************************/ + +/** Gets the domain's offset in the total process data. + * + * \return Domain offset, or a negative error code. + */ +static ATTRIBUTES int ec_ioctl_domain_offset( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + int offset = 0; + const ec_domain_t *domain; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (down_interruptible(&master->master_sem)) { + return -EINTR; + } + + list_for_each_entry(domain, &master->domains, list) { + if (domain->index == (unsigned long) arg) { + up(&master->master_sem); + return offset; + } + offset += ecrt_domain_size(domain); + } + + up(&master->master_sem); + return -ENOENT; +} + +/*****************************************************************************/ + +/** Process the domain. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_domain_process( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_domain_t *domain; + + if (unlikely(!ctx->requested)) + return -EPERM; + + /* no locking of master_sem needed, because domain will not be deleted in + * the meantime. */ + + if (!(domain = ec_master_find_domain(master, (unsigned long) arg))) { + return -ENOENT; + } + + ecrt_domain_process(domain); + return 0; +} + +/*****************************************************************************/ + +/** Queue the domain. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_domain_queue( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_domain_t *domain; + + if (unlikely(!ctx->requested)) + return -EPERM; + + /* no locking of master_sem needed, because domain will not be deleted in + * the meantime. */ + + if (!(domain = ec_master_find_domain(master, (unsigned long) arg))) { + return -ENOENT; + } + + ecrt_domain_queue(domain); + return 0; +} + +/*****************************************************************************/ + +/** Get the domain state. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_domain_state( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_domain_state_t data; + const ec_domain_t *domain; + ec_domain_state_t state; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + /* no locking of master_sem needed, because domain will not be deleted in + * the meantime. */ + + if (!(domain = ec_master_find_domain_const(master, data.domain_index))) { + return -ENOENT; + } + + ecrt_domain_state(domain, &state); + + if (copy_to_user((void __user *) data.state, &state, sizeof(state))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Sets an SDO request's SDO index and subindex. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sdo_request_index( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sdo_request_t data; + ec_slave_config_t *sc; + ec_sdo_request_t *req; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + /* no locking of master_sem needed, because neither sc nor req will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) { + return -ENOENT; + } + + ecrt_sdo_request_index(req, data.sdo_index, data.sdo_subindex); + return 0; +} + +/*****************************************************************************/ + +/** Sets an SDO request's timeout. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sdo_request_timeout( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sdo_request_t data; + ec_slave_config_t *sc; + ec_sdo_request_t *req; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + /* no locking of master_sem needed, because neither sc nor req will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) { + return -ENOENT; + } + + ecrt_sdo_request_timeout(req, data.timeout); + return 0; +} + +/*****************************************************************************/ + +/** Gets an SDO request's state. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sdo_request_state( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sdo_request_t data; + ec_slave_config_t *sc; + ec_sdo_request_t *req; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + /* no locking of master_sem needed, because neither sc nor req will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) { + return -ENOENT; + } + + data.state = ecrt_sdo_request_state(req); + if (data.state == EC_REQUEST_SUCCESS && req->dir == EC_DIR_INPUT) + data.size = ecrt_sdo_request_data_size(req); + else + data.size = 0; + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Starts an SDO read operation. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sdo_request_read( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sdo_request_t data; + ec_slave_config_t *sc; + ec_sdo_request_t *req; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + /* no locking of master_sem needed, because neither sc nor req will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) { + return -ENOENT; + } + + ecrt_sdo_request_read(req); + return 0; +} + +/*****************************************************************************/ + +/** Starts an SDO write operation. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sdo_request_write( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sdo_request_t data; + ec_slave_config_t *sc; + ec_sdo_request_t *req; + int ret; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (!data.size) { + EC_MASTER_ERR(master, "SDO download: Data size may not be zero!\n"); + return -EINVAL; + } + + /* no locking of master_sem needed, because neither sc nor req will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) { + return -ENOENT; + } + + ret = ec_sdo_request_alloc(req, data.size); + if (ret) + return ret; + + if (copy_from_user(req->data, (void __user *) data.data, data.size)) + return -EFAULT; + + req->data_size = data.size; + ecrt_sdo_request_write(req); + return 0; +} + +/*****************************************************************************/ + +/** Read SDO data. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sdo_request_data( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sdo_request_t data; + ec_slave_config_t *sc; + ec_sdo_request_t *req; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + /* no locking of master_sem needed, because neither sc nor req will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) { + return -ENOENT; + } + + if (copy_to_user((void __user *) data.data, ecrt_sdo_request_data(req), + ecrt_sdo_request_data_size(req))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Read register data. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_reg_request_data( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_reg_request_t io; + ec_slave_config_t *sc; + ec_reg_request_t *reg; + + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + if (io.mem_size <= 0) { + return 0; + } + + /* no locking of master_sem needed, because neither sc nor reg will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, io.config_index))) { + return -ENOENT; + } + + if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) { + return -ENOENT; + } + + if (copy_to_user((void __user *) io.data, ecrt_reg_request_data(reg), + min(reg->mem_size, io.mem_size))) { + return -EFAULT; + } + + return 0; +} + +/*****************************************************************************/ + +/** Gets an register request's state. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_reg_request_state( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_reg_request_t io; + ec_slave_config_t *sc; + ec_reg_request_t *reg; + + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + /* no locking of master_sem needed, because neither sc nor reg will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, io.config_index))) { + return -ENOENT; + } + + if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) { + return -ENOENT; + } + + io.state = ecrt_reg_request_state(reg); + io.new_data = io.state == EC_REQUEST_SUCCESS && reg->dir == EC_DIR_INPUT; + + if (copy_to_user((void __user *) arg, &io, sizeof(io))) { + return -EFAULT; + } + + return 0; +} + +/*****************************************************************************/ + +/** Starts an register write operation. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_reg_request_write( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_reg_request_t io; + ec_slave_config_t *sc; + ec_reg_request_t *reg; + + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + /* no locking of master_sem needed, because neither sc nor reg will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, io.config_index))) { + return -ENOENT; + } + + if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) { + return -ENOENT; + } + + if (io.transfer_size > reg->mem_size) { + return -EOVERFLOW; + } + + if (copy_from_user(reg->data, (void __user *) io.data, + io.transfer_size)) { + return -EFAULT; + } + + ecrt_reg_request_write(reg, io.address, io.transfer_size); + return 0; +} + +/*****************************************************************************/ + +/** Starts an register read operation. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_reg_request_read( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_reg_request_t io; + ec_slave_config_t *sc; + ec_reg_request_t *reg; + + if (unlikely(!ctx->requested)) { + return -EPERM; + } + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + /* no locking of master_sem needed, because neither sc nor reg will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, io.config_index))) { + return -ENOENT; + } + + if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) { + return -ENOENT; + } + + if (io.transfer_size > reg->mem_size) { + return -EOVERFLOW; + } + + ecrt_reg_request_read(reg, io.address, io.transfer_size); + return 0; +} + +/*****************************************************************************/ + +/** Sets the VoE send header. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_voe_send_header( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_voe_t data; + ec_slave_config_t *sc; + ec_voe_handler_t *voe; + uint32_t vendor_id; + uint16_t vendor_type; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (get_user(vendor_id, data.vendor_id)) + return -EFAULT; + + if (get_user(vendor_type, data.vendor_type)) + return -EFAULT; + + /* no locking of master_sem needed, because neither sc nor voe will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { + return -ENOENT; + } + + ecrt_voe_handler_send_header(voe, vendor_id, vendor_type); + return 0; +} + +/*****************************************************************************/ + +/** Gets the received VoE header. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_voe_rec_header( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_voe_t data; + ec_slave_config_t *sc; + ec_voe_handler_t *voe; + uint32_t vendor_id; + uint16_t vendor_type; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + /* no locking of master_sem needed, because neither sc nor voe will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { + return -ENOENT; + } + + ecrt_voe_handler_received_header(voe, &vendor_id, &vendor_type); + + if (likely(data.vendor_id)) + if (put_user(vendor_id, data.vendor_id)) + return -EFAULT; + + if (likely(data.vendor_type)) + if (put_user(vendor_type, data.vendor_type)) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Starts a VoE read operation. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_voe_read( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_voe_t data; + ec_slave_config_t *sc; + ec_voe_handler_t *voe; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + /* no locking of master_sem needed, because neither sc nor voe will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { + return -ENOENT; + } + + ecrt_voe_handler_read(voe); + return 0; +} + +/*****************************************************************************/ + +/** Starts a VoE read operation without sending a sync message first. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_voe_read_nosync( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_voe_t data; + ec_slave_config_t *sc; + ec_voe_handler_t *voe; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + /* no locking of master_sem needed, because neither sc nor voe will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { + return -ENOENT; + } + + ecrt_voe_handler_read_nosync(voe); + return 0; +} + +/*****************************************************************************/ + +/** Starts a VoE write operation. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_voe_write( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_voe_t data; + ec_slave_config_t *sc; + ec_voe_handler_t *voe; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + /* no locking of master_sem needed, because neither sc nor voe will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { + return -ENOENT; + } + + if (data.size) { + if (data.size > ec_voe_handler_mem_size(voe)) + return -EOVERFLOW; + + if (copy_from_user(ecrt_voe_handler_data(voe), + (void __user *) data.data, data.size)) + return -EFAULT; + } + + ecrt_voe_handler_write(voe, data.size); + return 0; +} + +/*****************************************************************************/ + +/** Executes the VoE state machine. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_voe_exec( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_voe_t data; + ec_slave_config_t *sc; + ec_voe_handler_t *voe; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + /* no locking of master_sem needed, because neither sc nor voe will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { + return -ENOENT; + } + + data.state = ecrt_voe_handler_execute(voe); + if (data.state == EC_REQUEST_SUCCESS && voe->dir == EC_DIR_INPUT) + data.size = ecrt_voe_handler_data_size(voe); + else + data.size = 0; + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Reads the received VoE data. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_voe_data( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_voe_t data; + ec_slave_config_t *sc; + ec_voe_handler_t *voe; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + /* no locking of master_sem needed, because neither sc nor voe will not be + * deleted in the meantime. */ + + if (!(sc = ec_master_get_config(master, data.config_index))) { + return -ENOENT; + } + + if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { + return -ENOENT; + } + + if (copy_to_user((void __user *) data.data, ecrt_voe_handler_data(voe), + ecrt_voe_handler_data_size(voe))) + return -EFAULT; + + return 0; +} + +/*****************************************************************************/ + +/** Read a file from a slave via FoE. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_foe_read( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_foe_t io; + ec_foe_request_t request; + ec_slave_t *slave; + int ret; + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + ec_foe_request_init(&request, io.file_name); + ret = ec_foe_request_alloc(&request, 10000); // FIXME + if (ret) { + ec_foe_request_clear(&request); + return ret; + } + + ec_foe_request_read(&request); + + if (down_interruptible(&master->master_sem)) { + ec_foe_request_clear(&request); + return -EINTR; + } + + if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) { + up(&master->master_sem); + ec_foe_request_clear(&request); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", + io.slave_position); + return -EINVAL; + } + + EC_SLAVE_DBG(slave, 1, "Scheduling FoE read request.\n"); + + // schedule request. + list_add_tail(&request.list, &slave->foe_requests); + + up(&master->master_sem); + + // wait for processing through FSM + if (wait_event_interruptible(master->request_queue, + request.state != EC_INT_REQUEST_QUEUED)) { + // interrupted by signal + down(&master->master_sem); + if (request.state == EC_INT_REQUEST_QUEUED) { + list_del(&request.list); + up(&master->master_sem); + ec_foe_request_clear(&request); + return -EINTR; + } + // request already processing: interrupt not possible. + up(&master->master_sem); + } + + // wait until master FSM has finished processing + wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY); + + io.result = request.result; + io.error_code = request.error_code; + + if (request.state != EC_INT_REQUEST_SUCCESS) { + io.data_size = 0; + ret = -EIO; + } else { + if (request.data_size > io.buffer_size) { + EC_MASTER_ERR(master, "Buffer too small.\n"); + ec_foe_request_clear(&request); + return -EOVERFLOW; + } + io.data_size = request.data_size; + if (copy_to_user((void __user *) io.buffer, + request.buffer, io.data_size)) { + ec_foe_request_clear(&request); + return -EFAULT; + } + ret = 0; + } + + if (__copy_to_user((void __user *) arg, &io, sizeof(io))) { + ret = -EFAULT; + } + + ec_foe_request_clear(&request); + return ret; +} + +/*****************************************************************************/ + +/** Write a file to a slave via FoE + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_foe_write( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_foe_t io; + ec_foe_request_t request; + ec_slave_t *slave; + int ret; + + if (copy_from_user(&io, (void __user *) arg, sizeof(io))) { + return -EFAULT; + } + + ec_foe_request_init(&request, io.file_name); + + ret = ec_foe_request_alloc(&request, io.buffer_size); + if (ret) { + ec_foe_request_clear(&request); + return ret; + } + + if (copy_from_user(request.buffer, + (void __user *) io.buffer, io.buffer_size)) { + ec_foe_request_clear(&request); + return -EFAULT; + } + + request.data_size = io.buffer_size; + ec_foe_request_write(&request); + + if (down_interruptible(&master->master_sem)) { + ec_foe_request_clear(&request); + return -EINTR; + } + + if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) { + up(&master->master_sem); + EC_MASTER_ERR(master, "Slave %u does not exist!\n", + io.slave_position); + ec_foe_request_clear(&request); + return -EINVAL; + } + + EC_SLAVE_DBG(slave, 1, "Scheduling FoE write request.\n"); + + // schedule FoE write request. + list_add_tail(&request.list, &slave->foe_requests); + + up(&master->master_sem); + + // wait for processing through FSM + if (wait_event_interruptible(master->request_queue, + request.state != EC_INT_REQUEST_QUEUED)) { + // interrupted by signal + down(&master->master_sem); + if (request.state == EC_INT_REQUEST_QUEUED) { + // abort request + list_del(&request.list); + up(&master->master_sem); + ec_foe_request_clear(&request); + return -EINTR; + } + up(&master->master_sem); + } + + // wait until master FSM has finished processing + wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY); + + io.result = request.result; + io.error_code = request.error_code; + + ret = request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO; + + if (__copy_to_user((void __user *) arg, &io, sizeof(io))) { + ret = -EFAULT; + } + + ec_foe_request_clear(&request); + return ret; +} + +/*****************************************************************************/ + +/** Read an SoE IDN. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_soe_read( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_soe_read_t ioctl; + u8 *data; + int retval; + + if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) { + return -EFAULT; + } + + data = kmalloc(ioctl.mem_size, GFP_KERNEL); + if (!data) { + EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n", + ioctl.mem_size); + return -ENOMEM; + } + + retval = ecrt_master_read_idn(master, ioctl.slave_position, + ioctl.drive_no, ioctl.idn, data, ioctl.mem_size, &ioctl.data_size, + &ioctl.error_code); + if (retval) { + kfree(data); + return retval; + } + + if (copy_to_user((void __user *) ioctl.data, + data, ioctl.data_size)) { + kfree(data); + return -EFAULT; + } + kfree(data); + + if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) { + retval = -EFAULT; + } + + EC_MASTER_DBG(master, 1, "Finished SoE read request.\n"); + return retval; +} + +/*****************************************************************************/ + +/** Write an IDN to a slave via SoE. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_slave_soe_write( + ec_master_t *master, /**< EtherCAT master. */ + void *arg /**< ioctl() argument. */ + ) +{ + ec_ioctl_slave_soe_write_t ioctl; + u8 *data; + int retval; + + if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) { + return -EFAULT; + } + + data = kmalloc(ioctl.data_size, GFP_KERNEL); + if (!data) { + EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n", + ioctl.data_size); + return -ENOMEM; + } + if (copy_from_user(data, (void __user *) ioctl.data, ioctl.data_size)) { + kfree(data); + return -EFAULT; + } + + retval = ecrt_master_write_idn(master, ioctl.slave_position, + ioctl.drive_no, ioctl.idn, data, ioctl.data_size, + &ioctl.error_code); + kfree(data); + if (retval) { + return retval; + } + + if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) { + retval = -EFAULT; + } + + EC_MASTER_DBG(master, 1, "Finished SoE write request.\n"); + return retval; +} + +/*****************************************************************************/ + +/** ioctl() function to use. + */ +#ifdef EC_IOCTL_RTDM +#define EC_IOCTL ec_ioctl_rtdm +#else +#define EC_IOCTL ec_ioctl +#endif + +/** Called when an ioctl() command is issued. + * + * \return ioctl() return code. + */ +long EC_IOCTL( + ec_master_t *master, /**< EtherCAT master. */ + ec_ioctl_context_t *ctx, /**< Device context. */ + unsigned int cmd, /**< ioctl() command identifier. */ + void *arg /**< ioctl() argument. */ + ) +{ +#if DEBUG_LATENCY + cycles_t a = get_cycles(), b; + unsigned int t; +#endif + int ret; + + switch (cmd) { + case EC_IOCTL_MODULE: + ret = ec_ioctl_module(arg); + break; + case EC_IOCTL_MASTER: + ret = ec_ioctl_master(master, arg); + break; + case EC_IOCTL_SLAVE: + ret = ec_ioctl_slave(master, arg); + break; + case EC_IOCTL_SLAVE_SYNC: + ret = ec_ioctl_slave_sync(master, arg); + break; + case EC_IOCTL_SLAVE_SYNC_PDO: + ret = ec_ioctl_slave_sync_pdo(master, arg); + break; + case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY: + ret = ec_ioctl_slave_sync_pdo_entry(master, arg); + break; + case EC_IOCTL_DOMAIN: + ret = ec_ioctl_domain(master, arg); + break; + case EC_IOCTL_DOMAIN_FMMU: + ret = ec_ioctl_domain_fmmu(master, arg); + break; + case EC_IOCTL_DOMAIN_DATA: + ret = ec_ioctl_domain_data(master, arg); + break; + case EC_IOCTL_MASTER_DEBUG: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_master_debug(master, arg); + break; + case EC_IOCTL_MASTER_RESCAN: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_master_rescan(master, arg); + break; + case EC_IOCTL_SLAVE_STATE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_slave_state(master, arg); + break; + case EC_IOCTL_SLAVE_SDO: + ret = ec_ioctl_slave_sdo(master, arg); + break; + case EC_IOCTL_SLAVE_SDO_ENTRY: + ret = ec_ioctl_slave_sdo_entry(master, arg); + break; + case EC_IOCTL_SLAVE_SDO_UPLOAD: + ret = ec_ioctl_slave_sdo_upload(master, arg); + break; + case EC_IOCTL_SLAVE_SDO_DOWNLOAD: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_slave_sdo_download(master, arg); + break; + case EC_IOCTL_SLAVE_SII_READ: + ret = ec_ioctl_slave_sii_read(master, arg); + break; + case EC_IOCTL_SLAVE_SII_WRITE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_slave_sii_write(master, arg); + break; + case EC_IOCTL_SLAVE_REG_READ: + ret = ec_ioctl_slave_reg_read(master, arg); + break; + case EC_IOCTL_SLAVE_REG_WRITE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_slave_reg_write(master, arg); + break; + case EC_IOCTL_SLAVE_FOE_READ: + ret = ec_ioctl_slave_foe_read(master, arg); + break; + case EC_IOCTL_SLAVE_FOE_WRITE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_slave_foe_write(master, arg); + break; + case EC_IOCTL_SLAVE_SOE_READ: + ret = ec_ioctl_slave_soe_read(master, arg); + break; + case EC_IOCTL_SLAVE_SOE_WRITE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_slave_soe_write(master, arg); + break; + case EC_IOCTL_CONFIG: + ret = ec_ioctl_config(master, arg); + break; + case EC_IOCTL_CONFIG_PDO: + ret = ec_ioctl_config_pdo(master, arg); + break; + case EC_IOCTL_CONFIG_PDO_ENTRY: + ret = ec_ioctl_config_pdo_entry(master, arg); + break; + case EC_IOCTL_CONFIG_SDO: + ret = ec_ioctl_config_sdo(master, arg); + break; + case EC_IOCTL_CONFIG_IDN: + ret = ec_ioctl_config_idn(master, arg); + break; +#ifdef EC_EOE + case EC_IOCTL_EOE_HANDLER: + ret = ec_ioctl_eoe_handler(master, arg); + break; +#endif + case EC_IOCTL_REQUEST: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_request(master, arg, ctx); + break; + case EC_IOCTL_CREATE_DOMAIN: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_create_domain(master, arg, ctx); + break; + case EC_IOCTL_CREATE_SLAVE_CONFIG: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_create_slave_config(master, arg, ctx); + break; + case EC_IOCTL_SELECT_REF_CLOCK: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_select_ref_clock(master, arg, ctx); + break; + case EC_IOCTL_ACTIVATE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_activate(master, arg, ctx); + break; + case EC_IOCTL_DEACTIVATE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_deactivate(master, arg, ctx); + break; + case EC_IOCTL_SEND: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_send(master, arg, ctx); + break; + case EC_IOCTL_RECEIVE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_receive(master, arg, ctx); + break; + case EC_IOCTL_MASTER_STATE: + ret = ec_ioctl_master_state(master, arg, ctx); + break; + case EC_IOCTL_MASTER_LINK_STATE: + ret = ec_ioctl_master_link_state(master, arg, ctx); + break; + case EC_IOCTL_APP_TIME: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_app_time(master, arg, ctx); + break; + case EC_IOCTL_SYNC_REF: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sync_ref(master, arg, ctx); + break; + case EC_IOCTL_SYNC_SLAVES: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sync_slaves(master, arg, ctx); + break; + case EC_IOCTL_REF_CLOCK_TIME: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_ref_clock_time(master, arg, ctx); + break; + case EC_IOCTL_SYNC_MON_QUEUE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sync_mon_queue(master, arg, ctx); + break; + case EC_IOCTL_SYNC_MON_PROCESS: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sync_mon_process(master, arg, ctx); + break; + case EC_IOCTL_RESET: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_reset(master, arg, ctx); + break; + case EC_IOCTL_SC_SYNC: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_sync(master, arg, ctx); + break; + case EC_IOCTL_SC_WATCHDOG: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_watchdog(master, arg, ctx); + break; + case EC_IOCTL_SC_ADD_PDO: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_add_pdo(master, arg, ctx); + break; + case EC_IOCTL_SC_CLEAR_PDOS: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_clear_pdos(master, arg, ctx); + break; + case EC_IOCTL_SC_ADD_ENTRY: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_add_entry(master, arg, ctx); + break; + case EC_IOCTL_SC_CLEAR_ENTRIES: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_clear_entries(master, arg, ctx); + break; + case EC_IOCTL_SC_REG_PDO_ENTRY: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_reg_pdo_entry(master, arg, ctx); + break; + case EC_IOCTL_SC_REG_PDO_POS: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_reg_pdo_pos(master, arg, ctx); + break; + case EC_IOCTL_SC_DC: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_dc(master, arg, ctx); + break; + case EC_IOCTL_SC_SDO: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_sdo(master, arg, ctx); + break; + case EC_IOCTL_SC_EMERG_SIZE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_emerg_size(master, arg, ctx); + break; + case EC_IOCTL_SC_EMERG_POP: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_emerg_pop(master, arg, ctx); + break; + case EC_IOCTL_SC_EMERG_CLEAR: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_emerg_clear(master, arg, ctx); + break; + case EC_IOCTL_SC_EMERG_OVERRUNS: + ret = ec_ioctl_sc_emerg_overruns(master, arg, ctx); + break; + case EC_IOCTL_SC_SDO_REQUEST: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_create_sdo_request(master, arg, ctx); + break; + case EC_IOCTL_SC_REG_REQUEST: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_create_reg_request(master, arg, ctx); + break; + case EC_IOCTL_SC_VOE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_create_voe_handler(master, arg, ctx); + break; + case EC_IOCTL_SC_STATE: + ret = ec_ioctl_sc_state(master, arg, ctx); + break; + case EC_IOCTL_SC_IDN: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sc_idn(master, arg, ctx); + break; + case EC_IOCTL_DOMAIN_SIZE: + ret = ec_ioctl_domain_size(master, arg, ctx); + break; + case EC_IOCTL_DOMAIN_OFFSET: + ret = ec_ioctl_domain_offset(master, arg, ctx); + break; + case EC_IOCTL_DOMAIN_PROCESS: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_domain_process(master, arg, ctx); + break; + case EC_IOCTL_DOMAIN_QUEUE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_domain_queue(master, arg, ctx); + break; + case EC_IOCTL_DOMAIN_STATE: + ret = ec_ioctl_domain_state(master, arg, ctx); + break; + case EC_IOCTL_SDO_REQUEST_INDEX: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sdo_request_index(master, arg, ctx); + break; + case EC_IOCTL_SDO_REQUEST_TIMEOUT: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sdo_request_timeout(master, arg, ctx); + break; + case EC_IOCTL_SDO_REQUEST_STATE: + ret = ec_ioctl_sdo_request_state(master, arg, ctx); + break; + case EC_IOCTL_SDO_REQUEST_READ: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sdo_request_read(master, arg, ctx); + break; + case EC_IOCTL_SDO_REQUEST_WRITE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sdo_request_write(master, arg, ctx); + break; + case EC_IOCTL_SDO_REQUEST_DATA: + ret = ec_ioctl_sdo_request_data(master, arg, ctx); + break; + case EC_IOCTL_REG_REQUEST_DATA: + ret = ec_ioctl_reg_request_data(master, arg, ctx); + break; + case EC_IOCTL_REG_REQUEST_STATE: + ret = ec_ioctl_reg_request_state(master, arg, ctx); + break; + case EC_IOCTL_REG_REQUEST_WRITE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_reg_request_write(master, arg, ctx); + break; + case EC_IOCTL_REG_REQUEST_READ: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_reg_request_read(master, arg, ctx); + break; + case EC_IOCTL_VOE_SEND_HEADER: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_voe_send_header(master, arg, ctx); + break; + case EC_IOCTL_VOE_REC_HEADER: + ret = ec_ioctl_voe_rec_header(master, arg, ctx); + break; + case EC_IOCTL_VOE_READ: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_voe_read(master, arg, ctx); + break; + case EC_IOCTL_VOE_READ_NOSYNC: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_voe_read_nosync(master, arg, ctx); + break; + case EC_IOCTL_VOE_WRITE: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_voe_write(master, arg, ctx); + break; + case EC_IOCTL_VOE_EXEC: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_voe_exec(master, arg, ctx); + break; + case EC_IOCTL_VOE_DATA: + ret = ec_ioctl_voe_data(master, arg, ctx); + break; + case EC_IOCTL_SET_SEND_INTERVAL: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_set_send_interval(master, arg, ctx); + break; + default: + ret = -ENOTTY; + break; + } + +#if DEBUG_LATENCY + b = get_cycles(); + t = (unsigned int) ((b - a) * 1000LL) / cpu_khz; + if (t > 50) { + EC_MASTER_WARN(master, "ioctl(0x%02x) took %u us.\n", + _IOC_NR(cmd), t); + } +#endif + + return ret; +} + +/*****************************************************************************/