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ethercat
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Use mmap handler in Xenomai3

This commit is contained in:
Bjarne von Horn 2024-01-25 15:57:17 +01:00
parent e76109c854
commit 1dae91d8c3
6 changed files with 14 additions and 20 deletions
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1
configure.ac
View File

@ -745,6 +745,7 @@ else
xeno_rtdm_ldflags=`$xenomaidir/bin/xeno-config --skin rtdm --auto-init-solib --ldflags`
xeno_v3=1
xeno=0
AC_DEFINE([EC_RTDM_OPS_HAS_MMAP], [1], [RTDM device operations has mmap handler])
else
xeno_native_cflags=`$xenomaidir/bin/xeno-config --skin native --cflags`
xeno_native_ldflags=`$xenomaidir/bin/xeno-config --skin native --ldflags`

2
lib/Makefile.am
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@ -104,7 +104,7 @@ endif
if ENABLE_XENOMAI_V3
libethercat_rtdm_la_CFLAGS += $(XENOMAI_RTDM_CFLAGS)
libethercat_rtdm_la_LDFLAGS += $(XENOMAI_RTDM_LDFLAGS)
libethercat_rtdm_la_CFLAGS += -DUSE_RTDM_XENOMAI_V3
libethercat_rtdm_la_CFLAGS += -DUSE_RTDM_XENOMAI_V3 -DEC_RTDM_OPS_HAS_MMAP
else
libethercat_rtdm_la_CFLAGS += -DUSE_RTDM
endif

2
lib/master.c
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@ -564,7 +564,7 @@ int ecrt_master_activate(ec_master_t *master)
master->process_data_size = io.process_data_size;
if (master->process_data_size) {
#if defined(USE_RTDM) || defined(USE_RTDM_XENOMAI_V3)
#if defined(USE_RTDM) || !defined(EC_RTDM_OPS_HAS_MMAP)
/* memory-mapping was already done in kernel. The user-space addess is
* provided in the ioctl data.
*/

2
master/ioctl.c
View File

@ -1893,7 +1893,7 @@ static ATTRIBUTES int ec_ioctl_activate(
offset += ecrt_domain_size(domain);
}
#ifdef EC_IOCTL_RTDM
#if defined(EC_IOCTL_RTDM) && !defined(EC_RTDM_OPS_HAS_MMAP)
/* RTDM uses a different approach for memory-mapping, which has to be
* initiated by the kernel.
*/

3
master/ioctl.h
View File

@ -845,7 +845,10 @@ long ec_ioctl(ec_master_t *, ec_ioctl_context_t *, unsigned int,
long ec_ioctl_rtdm(ec_master_t *, ec_ioctl_context_t *, unsigned int,
void __user *);
#ifndef EC_RTDM_OPS_HAS_MMAP
int ec_rtdm_mmap(ec_ioctl_context_t *, void **);
#endif
#endif

24
master/rtdm_xenomai_v3.c
View File

@ -273,6 +273,12 @@ static int ec_rtdm_ioctl(struct rtdm_fd *fd, unsigned int request,
return ec_ioctl_rtdm(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,
@ -286,6 +292,7 @@ static struct rtdm_driver ec_rtdm_driver = {
.close = ec_rtdm_close,
.ioctl_rt = ec_rtdm_ioctl_rt,
.ioctl_nrt = ec_rtdm_ioctl,
.mmap = ec_rtdm_mmap,
},
};
@ -331,20 +338,3 @@ void ec_rtdm_dev_clear(ec_rtdm_dev_t *rtdm_dev)
kfree(rtdm_dev->dev);
}
int ec_rtdm_mmap(ec_ioctl_context_t *ioctl_ctx, void **user_address)
{
struct ec_rtdm_context *ctx =
container_of(ioctl_ctx, struct ec_rtdm_context, ioctl_ctx);
int ret;
ret = rtdm_mmap_to_user(ctx->fd,
ioctl_ctx->process_data, ioctl_ctx->process_data_size,
PROT_READ | PROT_WRITE,
user_address,
NULL, NULL);
if (ret < 0)
return ret;
return 0;
}