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Split ioctl switch statements into rt, nrt and common

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This commit is contained in:
Bjarne von Horn
2024-01-31 16:54:20 +01:00
parent 1e7b4816c1
commit bf790debb6
6 changed files with 380 additions and 437 deletions
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6
include/ecrt.h
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@@ -1158,6 +1158,9 @@ EC_PUBLIC_API void ecrt_master_sync_reference_clock(
* The reference clock will by synchronized to the time passed in the
* sync_time parameter.
*
* Has to be called by the application after ecrt_master_activate()
* has returned.
*
* \ingroup ApplicationInterfaceRT
*/
EC_PUBLIC_API void ecrt_master_sync_reference_clock_to(
@@ -1169,6 +1172,9 @@ EC_PUBLIC_API void ecrt_master_sync_reference_clock_to(
*
* All slave clocks synchronized to the reference clock.
*
* Has to be called by the application after ecrt_master_activate()
* has returned.
*
* \ingroup ApplicationInterfaceRT
*/
EC_PUBLIC_API void ecrt_master_sync_slave_clocks(

7
master/cdev.c
View File

@@ -191,6 +191,7 @@ int eccdev_release(struct inode *inode, struct file *filp)
*/
long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
{
long result;
ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
#if DEBUG
@@ -199,7 +200,11 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
filp, cmd, _IOC_NR(cmd), arg);
#endif
return ec_ioctl(priv->cdev->master, &priv->ctx, cmd, (void __user *) arg);
result = ec_ioctl_rt(priv->cdev->master, &priv->ctx, cmd, (void __user *) arg);
if (result == -ENOTTY) {
result = ec_ioctl_nrt(priv->cdev->master, &priv->ctx, cmd, (void __user *) arg);
}
return result;
}
/****************************************************************************/

572
master/ioctl.c
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File diff suppressed because it is too large Load Diff

8
master/ioctl.h
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@@ -838,12 +838,16 @@ typedef struct {
size_t process_data_size; /**< Size of the \a process_data. */
} ec_ioctl_context_t;
long ec_ioctl(ec_master_t *, ec_ioctl_context_t *, unsigned int,
long ec_ioctl_rt(ec_master_t *, ec_ioctl_context_t *, unsigned int,
void __user *);
long ec_ioctl_nrt(ec_master_t *, ec_ioctl_context_t *, unsigned int,
void __user *);
#ifdef EC_RTDM
long ec_ioctl_rtdm(ec_master_t *, ec_ioctl_context_t *, unsigned int,
long ec_ioctl_rtdm_rt(ec_master_t *, ec_ioctl_context_t *, unsigned int,
void __user *);
long ec_ioctl_rtdm_nrt(ec_master_t *, ec_ioctl_context_t *, unsigned int,
void __user *);
#ifndef EC_RTDM_XENOMAI_V3

46
master/rtdm.c
View File

@@ -41,11 +41,12 @@
/****************************************************************************/
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 *,
static int ec_rtdm_open(struct rtdm_dev_context *, rtdm_user_info_t *, int);
static int ec_rtdm_close(struct rtdm_dev_context *, rtdm_user_info_t *);
static int ec_rtdm_ioctl_nrt_handler(struct rtdm_dev_context *, rtdm_user_info_t *,
unsigned int, void __user *);
static int ec_rtdm_ioctl_rt_handler(struct rtdm_dev_context *, rtdm_user_info_t *,
unsigned int, void __user *);
/****************************************************************************/
/** Initialize an RTDM device.
@@ -74,8 +75,8 @@ int ec_rtdm_dev_init(
"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->ops.ioctl_rt = ec_rtdm_ioctl_rt_handler;
rtdm_dev->dev->ops.ioctl_nrt = ec_rtdm_ioctl_nrt_handler;
rtdm_dev->dev->device_class = RTDM_CLASS_EXPERIMENTAL;
rtdm_dev->dev->device_sub_class = 222;
rtdm_dev->dev->driver_name = "EtherCAT";
@@ -124,7 +125,7 @@ void ec_rtdm_dev_clear(
*
* \return Always zero (success).
*/
int ec_rtdm_open(
static int ec_rtdm_open(
struct rtdm_dev_context *context, /**< Context. */
rtdm_user_info_t *user_info, /**< User data. */
int oflags /**< Open flags. */
@@ -154,7 +155,7 @@ int ec_rtdm_open(
*
* \return Always zero (success).
*/
int ec_rtdm_close(
static int ec_rtdm_close(
struct rtdm_dev_context *context, /**< Context. */
rtdm_user_info_t *user_info /**< User data. */
)
@@ -179,7 +180,7 @@ int ec_rtdm_close(
*
* \return ioctl() return code.
*/
int ec_rtdm_ioctl(
static int ec_rtdm_ioctl_nrt_handler(
struct rtdm_dev_context *context, /**< Context. */
rtdm_user_info_t *user_info, /**< User data. */
unsigned int request, /**< Request. */
@@ -194,7 +195,32 @@ int ec_rtdm_ioctl(
" 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);
return ec_ioctl_rtdm_nrt(rtdm_dev->master, &ctx->ioctl_ctx, request, arg);
}
static int ec_rtdm_ioctl_rt_handler(
struct rtdm_dev_context *context, /**< Context. */
rtdm_user_info_t *user_info, /**< User data. */
unsigned int request, /**< Request. */
void __user *arg /**< Argument. */
)
{
int result;
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
result = ec_ioctl_rtdm_rt(rtdm_dev->master, &ctx->ioctl_ctx, request, arg);
if (result == -ENOTTY) {
/* Try again with nrt ioctl handler above in secondary mode. */
return -ENOSYS;
}
return result;
}
/****************************************************************************/

178
master/rtdm_xenomai_v3.c
View File

@@ -84,189 +84,31 @@ static void ec_rtdm_close(struct rtdm_fd *fd)
#endif
}
#if DEBUG_RTDM
struct ec_ioctl_desc {
unsigned int cmd;
const char *name;
};
#define EC_IOCTL_DEF(ioctl) \
[_IOC_NR(ioctl)] = { \
.cmd = ioctl, \
.name = #ioctl \
}
static const struct ec_ioctl_desc ec_ioctls[] = {
EC_IOCTL_DEF(EC_IOCTL_MODULE),
EC_IOCTL_DEF(EC_IOCTL_MASTER),
EC_IOCTL_DEF(EC_IOCTL_SLAVE),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_SYNC),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_SYNC_PDO),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_SYNC_PDO_ENTRY),
EC_IOCTL_DEF(EC_IOCTL_DOMAIN),
EC_IOCTL_DEF(EC_IOCTL_DOMAIN_FMMU),
EC_IOCTL_DEF(EC_IOCTL_DOMAIN_DATA),
EC_IOCTL_DEF(EC_IOCTL_MASTER_DEBUG),
EC_IOCTL_DEF(EC_IOCTL_MASTER_RESCAN),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_STATE),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_SDO),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_SDO_ENTRY),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_SDO_UPLOAD),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_SDO_DOWNLOAD),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_SII_READ),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_SII_WRITE),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_REG_READ),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_REG_WRITE),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_FOE_READ),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_FOE_WRITE),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_SOE_READ),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_SOE_WRITE),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_EOE_IP_PARAM),
EC_IOCTL_DEF(EC_IOCTL_CONFIG),
EC_IOCTL_DEF(EC_IOCTL_CONFIG_PDO),
EC_IOCTL_DEF(EC_IOCTL_CONFIG_PDO_ENTRY),
EC_IOCTL_DEF(EC_IOCTL_CONFIG_SDO),
EC_IOCTL_DEF(EC_IOCTL_CONFIG_IDN),
#ifdef EC_EOE
EC_IOCTL_DEF(EC_IOCTL_EOE_HANDLER),
#endif
EC_IOCTL_DEF(EC_IOCTL_SLAVE_DICT_UPLOAD),
EC_IOCTL_DEF(EC_IOCTL_REQUEST),
EC_IOCTL_DEF(EC_IOCTL_CREATE_DOMAIN),
EC_IOCTL_DEF(EC_IOCTL_CREATE_SLAVE_CONFIG),
EC_IOCTL_DEF(EC_IOCTL_SELECT_REF_CLOCK),
EC_IOCTL_DEF(EC_IOCTL_ACTIVATE),
EC_IOCTL_DEF(EC_IOCTL_DEACTIVATE),
EC_IOCTL_DEF(EC_IOCTL_SEND),
EC_IOCTL_DEF(EC_IOCTL_RECEIVE),
EC_IOCTL_DEF(EC_IOCTL_MASTER_STATE),
EC_IOCTL_DEF(EC_IOCTL_MASTER_LINK_STATE),
EC_IOCTL_DEF(EC_IOCTL_APP_TIME),
EC_IOCTL_DEF(EC_IOCTL_SYNC_REF),
EC_IOCTL_DEF(EC_IOCTL_SYNC_SLAVES),
EC_IOCTL_DEF(EC_IOCTL_REF_CLOCK_TIME),
EC_IOCTL_DEF(EC_IOCTL_SYNC_MON_QUEUE),
EC_IOCTL_DEF(EC_IOCTL_SYNC_MON_PROCESS),
EC_IOCTL_DEF(EC_IOCTL_RESET),
EC_IOCTL_DEF(EC_IOCTL_SC_SYNC),
EC_IOCTL_DEF(EC_IOCTL_SC_WATCHDOG),
EC_IOCTL_DEF(EC_IOCTL_SC_ADD_PDO),
EC_IOCTL_DEF(EC_IOCTL_SC_CLEAR_PDOS),
EC_IOCTL_DEF(EC_IOCTL_SC_ADD_ENTRY),
EC_IOCTL_DEF(EC_IOCTL_SC_CLEAR_ENTRIES),
EC_IOCTL_DEF(EC_IOCTL_SC_REG_PDO_ENTRY),
EC_IOCTL_DEF(EC_IOCTL_SC_REG_PDO_POS),
EC_IOCTL_DEF(EC_IOCTL_SC_DC),
EC_IOCTL_DEF(EC_IOCTL_SC_SDO),
EC_IOCTL_DEF(EC_IOCTL_SC_EMERG_SIZE),
EC_IOCTL_DEF(EC_IOCTL_SC_EMERG_POP),
EC_IOCTL_DEF(EC_IOCTL_SC_EMERG_CLEAR),
EC_IOCTL_DEF(EC_IOCTL_SC_EMERG_OVERRUNS),
EC_IOCTL_DEF(EC_IOCTL_SC_SDO_REQUEST),
EC_IOCTL_DEF(EC_IOCTL_SC_REG_REQUEST),
EC_IOCTL_DEF(EC_IOCTL_SC_VOE),
EC_IOCTL_DEF(EC_IOCTL_SC_STATE),
EC_IOCTL_DEF(EC_IOCTL_SC_IDN),
EC_IOCTL_DEF(EC_IOCTL_DOMAIN_SIZE),
EC_IOCTL_DEF(EC_IOCTL_DOMAIN_OFFSET),
EC_IOCTL_DEF(EC_IOCTL_DOMAIN_PROCESS),
EC_IOCTL_DEF(EC_IOCTL_DOMAIN_QUEUE),
EC_IOCTL_DEF(EC_IOCTL_DOMAIN_STATE),
EC_IOCTL_DEF(EC_IOCTL_SDO_REQUEST_INDEX),
EC_IOCTL_DEF(EC_IOCTL_SDO_REQUEST_TIMEOUT),
EC_IOCTL_DEF(EC_IOCTL_SDO_REQUEST_STATE),
EC_IOCTL_DEF(EC_IOCTL_SDO_REQUEST_READ),
EC_IOCTL_DEF(EC_IOCTL_SDO_REQUEST_WRITE),
EC_IOCTL_DEF(EC_IOCTL_SDO_REQUEST_DATA),
EC_IOCTL_DEF(EC_IOCTL_REG_REQUEST_DATA),
EC_IOCTL_DEF(EC_IOCTL_REG_REQUEST_STATE),
EC_IOCTL_DEF(EC_IOCTL_REG_REQUEST_WRITE),
EC_IOCTL_DEF(EC_IOCTL_REG_REQUEST_READ),
EC_IOCTL_DEF(EC_IOCTL_VOE_SEND_HEADER),
EC_IOCTL_DEF(EC_IOCTL_VOE_REC_HEADER),
EC_IOCTL_DEF(EC_IOCTL_VOE_READ),
EC_IOCTL_DEF(EC_IOCTL_VOE_READ_NOSYNC),
EC_IOCTL_DEF(EC_IOCTL_VOE_WRITE),
EC_IOCTL_DEF(EC_IOCTL_VOE_EXEC),
EC_IOCTL_DEF(EC_IOCTL_VOE_DATA),
EC_IOCTL_DEF(EC_IOCTL_SET_SEND_INTERVAL),
EC_IOCTL_DEF(EC_IOCTL_SC_OVERLAPPING_IO),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_REBOOT),
EC_IOCTL_DEF(EC_IOCTL_SLAVE_REG_READWRITE),
EC_IOCTL_DEF(EC_IOCTL_REG_REQUEST_READWRITE),
EC_IOCTL_DEF(EC_IOCTL_SETUP_DOMAIN_MEMORY),
EC_IOCTL_DEF(EC_IOCTL_DEACTIVATE_SLAVES),
EC_IOCTL_DEF(EC_IOCTL_64_REF_CLK_TIME_QUEUE),
EC_IOCTL_DEF(EC_IOCTL_64_REF_CLK_TIME),
EC_IOCTL_DEF(EC_IOCTL_SC_FOE_REQUEST),
EC_IOCTL_DEF(EC_IOCTL_FOE_REQUEST_FILE),
EC_IOCTL_DEF(EC_IOCTL_FOE_REQUEST_TIMEOUT),
EC_IOCTL_DEF(EC_IOCTL_FOE_REQUEST_STATE),
EC_IOCTL_DEF(EC_IOCTL_FOE_REQUEST_READ),
EC_IOCTL_DEF(EC_IOCTL_FOE_REQUEST_WRITE),
EC_IOCTL_DEF(EC_IOCTL_FOE_REQUEST_DATA),
EC_IOCTL_DEF(EC_IOCTL_RT_SLAVE_REQUESTS),
EC_IOCTL_DEF(EC_IOCTL_EXEC_SLAVE_REQUESTS),
};
#endif
static int ec_rtdm_ioctl_rt(struct rtdm_fd *fd, unsigned int request,
static int ec_rtdm_ioctl_rt_handler(struct rtdm_fd *fd, unsigned int request,
void __user *arg)
{
int result;
struct ec_rtdm_context *ctx = rtdm_fd_to_private(fd);
struct rtdm_device *dev = rtdm_fd_device(fd);
ec_rtdm_dev_t *rtdm_dev = dev->device_data;
#if DEBUG_RTDM
unsigned int nr = _IOC_NR(request);
const struct ec_ioctl_desc *ioctl = &ec_ioctls[nr];
result = ec_ioctl_rtdm_rt(rtdm_dev->master, &ctx->ioctl_ctx, request, arg);
EC_MASTER_INFO(rtdm_dev->master, "ioctl_rt(request = %u, ctl = %02x %s)"
" on RTDM device %s.\n", request, _IOC_NR(request),ioctl->name,
dev->name);
#endif
/*
* FIXME: Execute ioctls from non-rt context except below ioctls to
* avoid any unknown system hanging.
*/
switch (request) {
case EC_IOCTL_SEND:
case EC_IOCTL_RECEIVE:
case EC_IOCTL_MASTER_STATE:
case EC_IOCTL_APP_TIME:
case EC_IOCTL_SYNC_REF:
case EC_IOCTL_SYNC_SLAVES:
case EC_IOCTL_REF_CLOCK_TIME:
case EC_IOCTL_SC_STATE:
case EC_IOCTL_DOMAIN_PROCESS:
case EC_IOCTL_DOMAIN_QUEUE:
case EC_IOCTL_DOMAIN_STATE:
break;
default:
if (result == -ENOTTY)
/* Try again with nrt ioctl handler below in secondary mode. */
return -ENOSYS;
}
return ec_ioctl_rtdm(rtdm_dev->master, &ctx->ioctl_ctx, request, arg);
return result;
}
static int ec_rtdm_ioctl(struct rtdm_fd *fd, unsigned int request,
static int ec_rtdm_ioctl_nrt_handler(struct rtdm_fd *fd, unsigned int request,
void __user *arg)
{
struct ec_rtdm_context *ctx = rtdm_fd_to_private(fd);
struct rtdm_device *dev = rtdm_fd_device(fd);
ec_rtdm_dev_t *rtdm_dev = dev->device_data;
#if DEBUG_RTDM
unsigned int nr = _IOC_NR(request);
const struct ec_ioctl_desc *ioctl = &ec_ioctls[nr];
EC_MASTER_INFO(rtdm_dev->master, "ioctl(request = %u, ctl = %02x %s)"
" on RTDM device %s.\n", request, _IOC_NR(request),ioctl->name,
dev->name);
#endif
return ec_ioctl_rtdm(rtdm_dev->master, &ctx->ioctl_ctx, request, arg);
return ec_ioctl_rtdm_nrt(rtdm_dev->master, &ctx->ioctl_ctx, request, arg);
}
static int ec_rtdm_mmap(struct rtdm_fd *fd, struct vm_area_struct *vma)
@@ -286,8 +128,8 @@ static struct rtdm_driver ec_rtdm_driver = {
.ops = {
.open = ec_rtdm_open,
.close = ec_rtdm_close,
.ioctl_rt = ec_rtdm_ioctl_rt,
.ioctl_nrt = ec_rtdm_ioctl,
.ioctl_rt = ec_rtdm_ioctl_rt_handler,
.ioctl_nrt = ec_rtdm_ioctl_nrt_handler,
.mmap = ec_rtdm_mmap,
},
};