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/*****************************************************************************
*
* $Id$
*
* Copyright (C) 2009-2010 Moehwald GmbH B. Benner
* 2011 IgH Andreas Stewering-Bone
* 2012 Florian Pose <fp@igh-essen.com>
*
* 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 as published
* by the Free Software Foundation; version 2 of the License.
*
* 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, see <http://www.gnu.org/licenses/>.
*
* 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
* RTDM interface.
*/
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/mman.h>
#include <rtdm/rtdm_driver.h>
#include "master.h"
#include "ioctl.h"
#include "rtdm.h"
/** Set to 1 to enable device operations debugging.
*/
#define DEBUG 0
/****************************************************************************/
/** Context structure for an open RTDM file handle.
*/
typedef struct {
rtdm_user_info_t *user_info; /**< RTDM user data. */
ec_ioctl_context_t ioctl_ctx; /**< Context structure. */
} ec_rtdm_context_t;
/****************************************************************************/
int ec_rtdm_open(struct rtdm_dev_context *, rtdm_user_info_t *, int);
int ec_rtdm_close(struct rtdm_dev_context *, rtdm_user_info_t *);
int ec_rtdm_ioctl(struct rtdm_dev_context *, rtdm_user_info_t *,
unsigned int, void __user *);
/****************************************************************************/
/** Initialize an RTDM device.
*
* \return Zero on success, otherwise a negative error code.
*/
int ec_rtdm_dev_init(
ec_rtdm_dev_t *rtdm_dev, /**< EtherCAT RTDM device. */
ec_master_t *master /**< EtherCAT master. */
)
{
int ret;
rtdm_dev->master = master;
rtdm_dev->dev = kzalloc(sizeof(struct rtdm_device), GFP_KERNEL);
if (!rtdm_dev->dev) {
EC_MASTER_ERR(master, "Failed to reserve memory for RTDM device.\n");
return -ENOMEM;
}
rtdm_dev->dev->struct_version = RTDM_DEVICE_STRUCT_VER;
rtdm_dev->dev->device_flags = RTDM_NAMED_DEVICE;
rtdm_dev->dev->context_size = sizeof(ec_rtdm_context_t);
snprintf(rtdm_dev->dev->device_name, RTDM_MAX_DEVNAME_LEN,
"EtherCAT%u", master->index);
rtdm_dev->dev->open_nrt = ec_rtdm_open;
rtdm_dev->dev->ops.close_nrt = ec_rtdm_close;
rtdm_dev->dev->ops.ioctl_rt = ec_rtdm_ioctl;
rtdm_dev->dev->ops.ioctl_nrt = ec_rtdm_ioctl;
rtdm_dev->dev->device_class = RTDM_CLASS_EXPERIMENTAL;
rtdm_dev->dev->device_sub_class = 222;
rtdm_dev->dev->driver_name = "EtherCAT";
rtdm_dev->dev->driver_version = RTDM_DRIVER_VER(1, 0, 2);
rtdm_dev->dev->peripheral_name = rtdm_dev->dev->device_name;
rtdm_dev->dev->provider_name = "EtherLab Community";
rtdm_dev->dev->proc_name = rtdm_dev->dev->device_name;
rtdm_dev->dev->device_data = rtdm_dev; /* pointer to parent */
EC_MASTER_INFO(master, "Registering RTDM device %s.\n",
rtdm_dev->dev->driver_name);
ret = rtdm_dev_register(rtdm_dev->dev);
if (ret) {
EC_MASTER_ERR(master, "Initialization of RTDM interface failed"
" (return value %i).\n", ret);
kfree(rtdm_dev->dev);
}
return ret;
}
/****************************************************************************/
/** Clear an RTDM device.
*/
void ec_rtdm_dev_clear(
ec_rtdm_dev_t *rtdm_dev /**< EtherCAT RTDM device. */
)
{
int ret;
EC_MASTER_INFO(rtdm_dev->master, "Unregistering RTDM device %s.\n",
rtdm_dev->dev->driver_name);
ret = rtdm_dev_unregister(rtdm_dev->dev, 1000 /* poll delay [ms] */);
if (ret < 0) {
EC_MASTER_WARN(rtdm_dev->master,
"Failed to unregister RTDM device (code %i).\n", ret);
}
kfree(rtdm_dev->dev);
}
/****************************************************************************/
/** Driver open.
*
* \return Always zero (success).
*/
int ec_rtdm_open(
struct rtdm_dev_context *context, /**< Context. */
rtdm_user_info_t *user_info, /**< User data. */
int oflags /**< Open flags. */
)
{
ec_rtdm_context_t *ctx = (ec_rtdm_context_t *) context->dev_private;
#if DEBUG
ec_rtdm_dev_t *rtdm_dev = (ec_rtdm_dev_t *) context->device->device_data;
#endif
ctx->user_info = user_info;
ctx->ioctl_ctx.writable = oflags & O_WRONLY || oflags & O_RDWR;
ctx->ioctl_ctx.requested = 0;
ctx->ioctl_ctx.process_data = NULL;
ctx->ioctl_ctx.process_data_size = 0;
#if DEBUG
EC_MASTER_INFO(rtdm_dev->master, "RTDM device %s opened.\n",
context->device->device_name);
#endif
return 0;
}
/****************************************************************************/
/** Driver close.
*
* \return Always zero (success).
*/
int ec_rtdm_close(
struct rtdm_dev_context *context, /**< Context. */
rtdm_user_info_t *user_info /**< User data. */
)
{
ec_rtdm_context_t *ctx = (ec_rtdm_context_t *) context->dev_private;
ec_rtdm_dev_t *rtdm_dev = (ec_rtdm_dev_t *) context->device->device_data;
if (ctx->ioctl_ctx.requested) {
ecrt_release_master(rtdm_dev->master);
}
#if DEBUG
EC_MASTER_INFO(rtdm_dev->master, "RTDM device %s closed.\n",
context->device->device_name);
#endif
return 0;
}
/****************************************************************************/
/** Driver ioctl.
*
* \return ioctl() return code.
*/
int ec_rtdm_ioctl(
struct rtdm_dev_context *context, /**< Context. */
rtdm_user_info_t *user_info, /**< User data. */
unsigned int request, /**< Request. */
void __user *arg /**< Argument. */
)
{
ec_rtdm_context_t *ctx = (ec_rtdm_context_t *) context->dev_private;
ec_rtdm_dev_t *rtdm_dev = (ec_rtdm_dev_t *) context->device->device_data;
#if DEBUG
EC_MASTER_INFO(rtdm_dev->master, "ioctl(request = %u, ctl = %02x)"
" on RTDM device %s.\n", request, _IOC_NR(request),
context->device->device_name);
#endif
return ec_ioctl_rtdm(rtdm_dev->master, &ctx->ioctl_ctx, request, arg);
}
/****************************************************************************/
/** Memory-map process data to user space.
*
* \return Zero on success, otherwise a negative error code.
*/
int ec_rtdm_mmap(
ec_ioctl_context_t *ioctl_ctx, /**< Context. */
void **user_address /**< Userspace address. */
)
{
ec_rtdm_context_t *ctx =
container_of(ioctl_ctx, ec_rtdm_context_t, ioctl_ctx);
int ret;
ret = rtdm_mmap_to_user(ctx->user_info,
ioctl_ctx->process_data, ioctl_ctx->process_data_size,
PROT_READ | PROT_WRITE,
user_address,
NULL, NULL);
if (ret < 0) {
return ret;
}
return 0;
}
/****************************************************************************/
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