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Added state functions; writing of process data works.

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This commit is contained in:
Florian Pose
2008-10-10 09:37:06 +00:00
parent 4e6e86c808
commit ca0a3dcf1b
6 changed files with 261 additions and 22 deletions
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master/cdev.c
+107
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@@ -1560,6 +1560,29 @@ int ec_cdev_ioctl_receive(
/*****************************************************************************/
/** Get the master state.
*/
int ec_cdev_ioctl_master_state(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
ec_master_state_t data;
if (unlikely(!priv->requested))
return -EPERM;
ecrt_master_state(master, &data);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Set the direction of a sync manager.
*/
int ec_cdev_ioctl_sc_sync(
@@ -1839,6 +1862,45 @@ int ec_cdev_ioctl_sc_sdo(
/*****************************************************************************/
/** Get the slave configuration's state.
*/
int ec_cdev_ioctl_sc_state(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< 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(!priv->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_const(master, data.config_index))) {
up(&master->master_sem);
return -ESRCH;
}
ecrt_slave_config_state(sc, &state);
up(&master->master_sem);
if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Gets the domain's offset in the total process data.
*/
int ec_cdev_ioctl_domain_offset(
@@ -1925,6 +1987,45 @@ int ec_cdev_ioctl_domain_queue(
return 0;
}
/*****************************************************************************/
/** Get the domain state.
*/
int ec_cdev_ioctl_domain_state(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
ec_ioctl_domain_state_t data;
const ec_domain_t *domain;
ec_domain_state_t state;
if (unlikely(!priv->requested))
return -EPERM;
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);
return -ESRCH;
}
ecrt_domain_state(domain, &state);
up(&master->master_sem);
if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
return -EFAULT;
return 0;
}
/******************************************************************************
* File operations
*****************************************************************************/
@@ -2067,6 +2168,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_receive(master, arg, priv);
case EC_IOCTL_MASTER_STATE:
return ec_cdev_ioctl_master_state(master, arg, priv);
case EC_IOCTL_SC_SYNC:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
@@ -2095,6 +2198,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_sdo(master, arg, priv);
case EC_IOCTL_SC_STATE:
return ec_cdev_ioctl_sc_state(master, arg, priv);
case EC_IOCTL_DOMAIN_OFFSET:
return ec_cdev_ioctl_domain_offset(master, arg, priv);
case EC_IOCTL_DOMAIN_PROCESS:
@@ -2105,6 +2210,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_domain_queue(master, arg, priv);
case EC_IOCTL_DOMAIN_STATE:
return ec_cdev_ioctl_domain_state(master, arg, priv);
default:
return -ENOTTY;
}