rtdm_xenomai_v3.c

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/*****************************************************************************
 *
 *  Copyright (C) 2009-2010  Moehwald GmbH B. Benner
 *                     2011  IgH Andreas Stewering-Bone
 *                     2012  Florian Pose <fp@igh.de>
 *
 *  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/>.
 *
 ****************************************************************************/

#include <linux/module.h>
#include <linux/vmalloc.h>
#include <rtdm/driver.h>

#include "master.h"
#include "ioctl.h"
#include "rtdm.h"
#include "rtdm_details.h"

#define DEBUG_RTDM 0

/****************************************************************************/

static int ec_rtdm_open(struct rtdm_fd *fd, int oflags)
{
    struct ec_rtdm_context *ctx = rtdm_fd_to_private(fd);
#if DEBUG_RTDM
    struct rtdm_device *dev = rtdm_fd_device(fd);
    ec_rtdm_dev_t *rtdm_dev = dev->device_data;
#endif

    ctx->user_fd = fd;

    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_RTDM
    EC_MASTER_INFO(rtdm_dev->master, "RTDM device %s opened.\n",
            dev->name);
#endif

    return 0;
}

/****************************************************************************/

static void ec_rtdm_close(struct rtdm_fd *fd)
{
    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 (ctx->ioctl_ctx.requested)
        ecrt_release_master(rtdm_dev->master);

    if (ctx->ioctl_ctx.process_data)
        vfree(ctx->ioctl_ctx.process_data);

#if DEBUG_RTDM
    EC_MASTER_INFO(rtdm_dev->master, "RTDM device %s closed.\n",
            dev->name);
#endif
}

/****************************************************************************/

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;

    result =
        ec_ioctl_rtdm_rt(rtdm_dev->master, &ctx->ioctl_ctx, request, arg);

    if (result == -ENOTTY)
        /* Try again with nrt ioctl handler below in secondary mode. */
        return -ENOSYS;

    return result;
}

/****************************************************************************/

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;

    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)
{
    struct ec_rtdm_context *ctx =
        (struct ec_rtdm_context *) rtdm_fd_to_private(fd);
    return rtdm_mmap_kmem(vma, (void *)ctx->ioctl_ctx.process_data);
}

/****************************************************************************/

static struct rtdm_driver ec_rtdm_driver = {
    .profile_info       = RTDM_PROFILE_INFO(ec_rtdm,
                            RTDM_CLASS_EXPERIMENTAL,
                            222,
                            0),
    .device_flags       = RTDM_NAMED_DEVICE,
    .device_count       = EC_MAX_MASTERS,
    .context_size       = sizeof(struct ec_rtdm_context),
    .ops = {
        .open       = ec_rtdm_open,
        .close      = ec_rtdm_close,
        .ioctl_rt   = ec_rtdm_ioctl_rt_handler,
        .ioctl_nrt  = ec_rtdm_ioctl_nrt_handler,
        .mmap       = ec_rtdm_mmap,
    },
};

/****************************************************************************/

int ec_rtdm_dev_init(ec_rtdm_dev_t *rtdm_dev, ec_master_t *master)
{
    struct rtdm_device *dev;
    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;
    }

    dev = rtdm_dev->dev;

    dev->driver = &ec_rtdm_driver;
    dev->device_data = rtdm_dev;
    dev->label = "EtherCAT%u";
    dev->minor = master->index;

    ret = rtdm_dev_register(dev);
    if (ret) {
        EC_MASTER_ERR(master, "Initialization of RTDM interface failed"
                " (return value %i).\n", ret);
        kfree(dev);
        return ret;
    }

    EC_MASTER_INFO(master, "Registered RTDM device %s.\n", dev->name);

    return 0;
}

/****************************************************************************/

void ec_rtdm_dev_clear(ec_rtdm_dev_t *rtdm_dev)
{
    rtdm_dev_unregister(rtdm_dev->dev);

    EC_MASTER_INFO(rtdm_dev->master, "Unregistered RTDM device %s.\n",
            rtdm_dev->dev->name);

    kfree(rtdm_dev->dev);
}

/****************************************************************************/