MERGE-via-pending-tracking-hist-MERGE-via-stable-tracking-MERGE-via-mokopatches-tracking-fix-stray-endmenu-patch-1232632040-1232632141

pending-tracking-hist top was MERGE-via-stable-tracking-MERGE-via-mokopatches-tracking-fix-stray-endmenu-patch-1232632040-1232632141 / fdf777a63bcb59e0dfd78bfe2c6242e01f6d4eb9 ... parent commitmessage:
From: merge <null@invalid>
MERGE-via-stable-tracking-hist-MERGE-via-mokopatches-tracking-fix-stray-endmenu-patch-1232632040

stable-tracking-hist top was MERGE-via-mokopatches-tracking-fix-stray-endmenu-patch-1232632040 / 90463bfd2d5a3c8b52f6e6d71024a00e052b0ced ... parent commitmessage:
From: merge <null@invalid>
MERGE-via-mokopatches-tracking-hist-fix-stray-endmenu-patch

mokopatches-tracking-hist top was fix-stray-endmenu-patch / 3630e0be570de8057e7f8d2fe501ed353cdf34e6 ... parent commitmessage:
From: Andy Green <andy@openmoko.com>
fix-stray-endmenu.patch

Signed-off-by: Andy Green <andy@openmoko.com>

1 files changed, 1260 insertions, 0 deletions

diff --git a/drivers/staging/epl/EplApiLinuxKernel.c b/drivers/staging/epl/EplApiLinuxKernel.c
new file mode 100644
index 00000000000..05ca0628d6a
--- /dev/null
+++ b/drivers/staging/epl/EplApiLinuxKernel.c
@@ -0,0 +1,1260 @@
+/****************************************************************************
+
+  (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+      www.systec-electronic.com
+
+  Project:      openPOWERLINK
+
+  Description:  Linux kernel module as wrapper of EPL API layer,
+                i.e. counterpart to a Linux application
+
+  License:
+
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions
+    are met:
+
+    1. Redistributions of source code must retain the above copyright
+       notice, this list of conditions and the following disclaimer.
+
+    2. Redistributions in binary form must reproduce the above copyright
+       notice, this list of conditions and the following disclaimer in the
+       documentation and/or other materials provided with the distribution.
+
+    3. Neither the name of SYSTEC electronic GmbH nor the names of its
+       contributors may be used to endorse or promote products derived
+       from this software without prior written permission. For written
+       permission, please contact info@systec-electronic.com.
+
+    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+    FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+    COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+    INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+    BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+    CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+    LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+    ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+    POSSIBILITY OF SUCH DAMAGE.
+
+    Severability Clause:
+
+        If a provision of this License is or becomes illegal, invalid or
+        unenforceable in any jurisdiction, that shall not affect:
+        1. the validity or enforceability in that jurisdiction of any other
+           provision of this License; or
+        2. the validity or enforceability in other jurisdictions of that or
+           any other provision of this License.
+
+  -------------------------------------------------------------------------
+
+                $RCSfile: EplApiLinuxKernel.c,v $
+
+                $Author: D.Krueger $
+
+                $Revision: 1.9 $  $Date: 2008/11/21 09:00:38 $
+
+                $State: Exp $
+
+                Build Environment:
+                GNU-Compiler for m68k
+
+  -------------------------------------------------------------------------
+
+  Revision History:
+
+  2006/10/11 d.k.:  Initial Version
+  2008/04/10 m.u.:  Changed to new char driver init
+
+****************************************************************************/
+
+// kernel modul and driver
+
+//#include <linux/version.h>
+//#include <linux/config.h>
+
+#include <linux/module.h>
+#include <linux/fs.h>
+#include <linux/cdev.h>
+#include <linux/types.h>
+
+//#include <linux/module.h>
+//#include <linux/kernel.h>
+//#include <linux/init.h>
+//#include <linux/errno.h>
+
+// scheduling
+#include <linux/sched.h>
+
+// memory access
+#include <asm/uaccess.h>
+#include <linux/vmalloc.h>
+
+#ifdef CONFIG_DEVFS_FS
+#include <linux/major.h>
+#include <linux/devfs_fs_kernel.h>
+#endif
+
+#include "Epl.h"
+#include "EplApiLinux.h"
+//#include "kernel/EplPdokCal.h"
+#include "proc_fs.h"
+
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)
+    // remove ("make invisible") obsolete symbols for kernel versions 2.6
+    // and higher
+#define MOD_INC_USE_COUNT
+#define MOD_DEC_USE_COUNT
+#define EXPORT_NO_SYMBOLS
+#else
+#error "This driver needs a 2.6.x kernel or higher"
+#endif
+
+/***************************************************************************/
+/*                                                                         */
+/*                                                                         */
+/*          G L O B A L   D E F I N I T I O N S                            */
+/*                                                                         */
+/*                                                                         */
+/***************************************************************************/
+
+// Metainformation
+MODULE_LICENSE("Dual BSD/GPL");
+#ifdef MODULE_AUTHOR
+MODULE_AUTHOR("Daniel.Krueger@SYSTEC-electronic.com");
+MODULE_DESCRIPTION("EPL API driver");
+#endif
+
+//---------------------------------------------------------------------------
+//  Configuration
+//---------------------------------------------------------------------------
+
+#define EPLLIN_DRV_NAME     "systec_epl"	// used for <register_chrdev>
+
+//---------------------------------------------------------------------------
+//  Constant definitions
+//---------------------------------------------------------------------------
+
+// TracePoint support for realtime-debugging
+#ifdef _DBG_TRACE_POINTS_
+void PUBLIC TgtDbgSignalTracePoint(BYTE bTracePointNumber_p);
+#define TGT_DBG_SIGNAL_TRACE_POINT(p)   TgtDbgSignalTracePoint(p)
+#else
+#define TGT_DBG_SIGNAL_TRACE_POINT(p)
+#endif
+
+#define EVENT_STATE_INIT        0
+#define EVENT_STATE_IOCTL       1	// ioctl entered and ready to receive EPL event
+#define EVENT_STATE_READY       2	// EPL event can be forwarded to user application
+#define EVENT_STATE_TERM        3	// terminate processing
+
+#define EPL_STATE_NOTOPEN       0
+#define EPL_STATE_NOTINIT       1
+#define EPL_STATE_RUNNING       2
+#define EPL_STATE_SHUTDOWN      3
+
+//---------------------------------------------------------------------------
+//  Global variables
+//---------------------------------------------------------------------------
+
+#ifdef CONFIG_DEVFS_FS
+
+    // driver major number
+static int nDrvMajorNumber_g;
+
+#else
+
+    // device number (major and minor)
+static dev_t nDevNum_g;
+static struct cdev *pEpl_cdev_g;
+
+#endif
+
+static volatile unsigned int uiEplState_g = EPL_STATE_NOTOPEN;
+
+static struct semaphore SemaphoreCbEvent_g;	// semaphore for EplLinCbEvent
+static wait_queue_head_t WaitQueueCbEvent_g;	// wait queue EplLinCbEvent
+static wait_queue_head_t WaitQueueProcess_g;	// wait queue for EplApiProcess (user process)
+static wait_queue_head_t WaitQueueRelease_g;	// wait queue for EplLinRelease
+static atomic_t AtomicEventState_g = ATOMIC_INIT(EVENT_STATE_INIT);
+static tEplApiEventType EventType_g;	// event type (enum)
+static tEplApiEventArg *pEventArg_g;	// event argument (union)
+static tEplKernel RetCbEvent_g;	// return code from event callback function
+static wait_queue_head_t WaitQueueCbSync_g;	// wait queue EplLinCbSync
+static wait_queue_head_t WaitQueuePI_In_g;	// wait queue for EplApiProcessImageExchangeIn (user process)
+static atomic_t AtomicSyncState_g = ATOMIC_INIT(EVENT_STATE_INIT);
+
+//---------------------------------------------------------------------------
+//  Local types
+//---------------------------------------------------------------------------
+
+typedef struct {
+	void *m_pUserArg;
+	void *m_pData;
+
+} tEplLinSdoBufHeader;
+
+//---------------------------------------------------------------------------
+//  Local variables
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+//  Prototypes of internal functions
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplLinCbEvent(tEplApiEventType EventType_p,	// IN: event type (enum)
+				tEplApiEventArg * pEventArg_p,	// IN: event argument (union)
+				void GENERIC * pUserArg_p);
+
+tEplKernel PUBLIC EplLinCbSync(void);
+
+static int __init EplLinInit(void);
+static void __exit EplLinExit(void);
+
+static int EplLinOpen(struct inode *pDeviceFile_p, struct file *pInstance_p);
+static int EplLinRelease(struct inode *pDeviceFile_p, struct file *pInstance_p);
+static ssize_t EplLinRead(struct file *pInstance_p, char *pDstBuff_p,
+			  size_t BuffSize_p, loff_t * pFileOffs_p);
+static ssize_t EplLinWrite(struct file *pInstance_p, const char *pSrcBuff_p,
+			   size_t BuffSize_p, loff_t * pFileOffs_p);
+static int EplLinIoctl(struct inode *pDeviceFile_p, struct file *pInstance_p,
+		       unsigned int uiIoctlCmd_p, unsigned long ulArg_p);
+
+//---------------------------------------------------------------------------
+//  Kernel Module specific Data Structures
+//---------------------------------------------------------------------------
+
+EXPORT_NO_SYMBOLS;
+
+module_init(EplLinInit);
+module_exit(EplLinExit);
+
+static struct file_operations EplLinFileOps_g = {
+	.owner = THIS_MODULE,
+	.open = EplLinOpen,
+	.release = EplLinRelease,
+	.read = EplLinRead,
+	.write = EplLinWrite,
+	.ioctl = EplLinIoctl,
+
+};
+
+//=========================================================================//
+//                                                                         //
+//          P U B L I C   F U N C T I O N S                                //
+//                                                                         //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//  Initailize Driver
+//---------------------------------------------------------------------------
+//  -> insmod driver
+//---------------------------------------------------------------------------
+
+static int __init EplLinInit(void)
+{
+
+	tEplKernel EplRet;
+	int iErr;
+	int iRet;
+#ifdef CONFIG_DEVFS_FS
+	int nMinorNumber;
+#endif
+
+	TRACE0("EPL: + EplLinInit...\n");
+	TRACE2("EPL:   Driver build: %s / %s\n", __DATE__, __TIME__);
+
+	iRet = 0;
+
+	// initialize global variables
+	atomic_set(&AtomicEventState_g, EVENT_STATE_INIT);
+	sema_init(&SemaphoreCbEvent_g, 1);
+	init_waitqueue_head(&WaitQueueCbEvent_g);
+	init_waitqueue_head(&WaitQueueProcess_g);
+	init_waitqueue_head(&WaitQueueRelease_g);
+
+#ifdef CONFIG_DEVFS_FS
+
+	// register character device handler
+	TRACE2("EPL:   Installing Driver '%s', Version %s...\n",
+	       EPLLIN_DRV_NAME, EPL_PRODUCT_VERSION);
+	TRACE0("EPL:   (using dynamic major number assignment)\n");
+	nDrvMajorNumber_g =
+	    register_chrdev(0, EPLLIN_DRV_NAME, &EplLinFileOps_g);
+	if (nDrvMajorNumber_g != 0) {
+		TRACE2
+		    ("EPL:   Driver '%s' installed successful, assigned MajorNumber=%d\n",
+		     EPLLIN_DRV_NAME, nDrvMajorNumber_g);
+	} else {
+		TRACE1
+		    ("EPL:   ERROR: Driver '%s' is unable to get a free MajorNumber!\n",
+		     EPLLIN_DRV_NAME);
+		iRet = -EIO;
+		goto Exit;
+	}
+
+	// create device node in DEVFS
+	nMinorNumber = 0;
+	TRACE1("EPL:   Creating device node '/dev/%s'...\n", EPLLIN_DEV_NAME);
+	iErr =
+	    devfs_mk_cdev(MKDEV(nDrvMajorNumber_g, nMinorNumber),
+			  S_IFCHR | S_IRUGO | S_IWUGO, EPLLIN_DEV_NAME);
+	if (iErr == 0) {
+		TRACE1("EPL:   Device node '/dev/%s' created successful.\n",
+		       EPLLIN_DEV_NAME);
+	} else {
+		TRACE1("EPL:   ERROR: unable to create device node '/dev/%s'\n",
+		       EPLLIN_DEV_NAME);
+		iRet = -EIO;
+		goto Exit;
+	}
+
+#else
+
+	// register character device handler
+	// only one Minor required
+	TRACE2("EPL:   Installing Driver '%s', Version %s...\n",
+	       EPLLIN_DRV_NAME, EPL_PRODUCT_VERSION);
+	iRet = alloc_chrdev_region(&nDevNum_g, 0, 1, EPLLIN_DRV_NAME);
+	if (iRet == 0) {
+		TRACE2
+		    ("EPL:   Driver '%s' installed successful, assigned MajorNumber=%d\n",
+		     EPLLIN_DRV_NAME, MAJOR(nDevNum_g));
+	} else {
+		TRACE1
+		    ("EPL:   ERROR: Driver '%s' is unable to get a free MajorNumber!\n",
+		     EPLLIN_DRV_NAME);
+		iRet = -EIO;
+		goto Exit;
+	}
+
+	// register cdev structure
+	pEpl_cdev_g = cdev_alloc();
+	pEpl_cdev_g->ops = &EplLinFileOps_g;
+	pEpl_cdev_g->owner = THIS_MODULE;
+	iErr = cdev_add(pEpl_cdev_g, nDevNum_g, 1);
+	if (iErr) {
+		TRACE2("EPL:   ERROR %d: Driver '%s' could not be added!\n",
+		       iErr, EPLLIN_DRV_NAME);
+		iRet = -EIO;
+		goto Exit;
+	}
+#endif
+
+	// create device node in PROCFS
+	EplRet = EplLinProcInit();
+	if (EplRet != kEplSuccessful) {
+		goto Exit;
+	}
+
+      Exit:
+
+	TRACE1("EPL: - EplLinInit (iRet=%d)\n", iRet);
+	return (iRet);
+
+}
+
+//---------------------------------------------------------------------------
+//  Remove Driver
+//---------------------------------------------------------------------------
+//  -> rmmod driver
+//---------------------------------------------------------------------------
+
+static void __exit EplLinExit(void)
+{
+
+	tEplKernel EplRet;
+
+	// delete instance for all modules
+//    EplRet = EplApiShutdown();
+//    printk("EplApiShutdown():  0x%X\n", EplRet);
+
+	// deinitialize proc fs
+	EplRet = EplLinProcFree();
+	printk("EplLinProcFree():        0x%X\n", EplRet);
+
+	TRACE0("EPL: + EplLinExit...\n");
+
+#ifdef CONFIG_DEVFS_FS
+
+	// remove device node from DEVFS
+	devfs_remove(EPLLIN_DEV_NAME);
+	TRACE1("EPL:   Device node '/dev/%s' removed.\n", EPLLIN_DEV_NAME);
+
+	// unregister character device handler
+	unregister_chrdev(nDrvMajorNumber_g, EPLLIN_DRV_NAME);
+
+#else
+
+	// remove cdev structure
+	cdev_del(pEpl_cdev_g);
+
+	// unregister character device handler
+	unregister_chrdev_region(nDevNum_g, 1);
+
+#endif
+
+	TRACE1("EPL:   Driver '%s' removed.\n", EPLLIN_DRV_NAME);
+
+	TRACE0("EPL: - EplLinExit\n");
+
+}
+
+//---------------------------------------------------------------------------
+//  Open Driver
+//---------------------------------------------------------------------------
+//  -> open("/dev/driver", O_RDWR)...
+//---------------------------------------------------------------------------
+
+static int EplLinOpen(struct inode *pDeviceFile_p,	// information about the device to open
+		      struct file *pInstance_p)	// information about driver instance
+{
+
+	int iRet;
+
+	TRACE0("EPL: + EplLinOpen...\n");
+
+	MOD_INC_USE_COUNT;
+
+	if (uiEplState_g != EPL_STATE_NOTOPEN) {	// stack already initialized
+		iRet = -EALREADY;
+	} else {
+		atomic_set(&AtomicEventState_g, EVENT_STATE_INIT);
+		sema_init(&SemaphoreCbEvent_g, 1);
+		init_waitqueue_head(&WaitQueueCbEvent_g);
+		init_waitqueue_head(&WaitQueueProcess_g);
+		init_waitqueue_head(&WaitQueueRelease_g);
+		atomic_set(&AtomicSyncState_g, EVENT_STATE_INIT);
+		init_waitqueue_head(&WaitQueueCbSync_g);
+		init_waitqueue_head(&WaitQueuePI_In_g);
+
+		uiEplState_g = EPL_STATE_NOTINIT;
+		iRet = 0;
+	}
+
+	TRACE1("EPL: - EplLinOpen (iRet=%d)\n", iRet);
+	return (iRet);
+
+}
+
+//---------------------------------------------------------------------------
+//  Close Driver
+//---------------------------------------------------------------------------
+//  -> close(device)...
+//---------------------------------------------------------------------------
+
+static int EplLinRelease(struct inode *pDeviceFile_p,	// information about the device to open
+			 struct file *pInstance_p)	// information about driver instance
+{
+
+	tEplKernel EplRet = kEplSuccessful;
+	int iRet;
+
+	TRACE0("EPL: + EplLinRelease...\n");
+
+	if (uiEplState_g != EPL_STATE_NOTINIT) {
+		// pass control to sync kernel thread, but signal termination
+		atomic_set(&AtomicSyncState_g, EVENT_STATE_TERM);
+		wake_up_interruptible(&WaitQueueCbSync_g);
+		wake_up_interruptible(&WaitQueuePI_In_g);
+
+		// pass control to event queue kernel thread
+		atomic_set(&AtomicEventState_g, EVENT_STATE_TERM);
+		wake_up_interruptible(&WaitQueueCbEvent_g);
+
+		if (uiEplState_g == EPL_STATE_RUNNING) {	// post NmtEventSwitchOff
+			EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
+
+		}
+
+		if (EplRet == kEplSuccessful) {
+			TRACE0("EPL:   waiting for NMT_GS_OFF\n");
+			wait_event_interruptible(WaitQueueRelease_g,
+						 (uiEplState_g ==
+						  EPL_STATE_SHUTDOWN));
+		} else {	// post NmtEventSwitchOff failed
+			TRACE0("EPL:   event post failed\n");
+		}
+
+		// $$$ d.k.: What if waiting was interrupted by signal?
+
+		TRACE0("EPL:   call EplApiShutdown()\n");
+		// EPL stack can be safely shut down
+		// delete instance for all EPL modules
+		EplRet = EplApiShutdown();
+		printk("EplApiShutdown():  0x%X\n", EplRet);
+	}
+
+	uiEplState_g = EPL_STATE_NOTOPEN;
+	iRet = 0;
+
+	MOD_DEC_USE_COUNT;
+
+	TRACE1("EPL: - EplLinRelease (iRet=%d)\n", iRet);
+	return (iRet);
+
+}
+
+//---------------------------------------------------------------------------
+//  Read Data from Driver
+//---------------------------------------------------------------------------
+//  -> read(...)
+//---------------------------------------------------------------------------
+
+static ssize_t EplLinRead(struct file *pInstance_p,	// information about driver instance
+			  char *pDstBuff_p,	// address of buffer to fill with data
+			  size_t BuffSize_p,	// length of the buffer
+			  loff_t * pFileOffs_p)	// offset in the file
+{
+
+	int iRet;
+
+	TRACE0("EPL: + EplLinRead...\n");
+
+	TRACE0("EPL:   Sorry, this operation isn't supported.\n");
+	iRet = -EINVAL;
+
+	TRACE1("EPL: - EplLinRead (iRet=%d)\n", iRet);
+	return (iRet);
+
+}
+
+//---------------------------------------------------------------------------
+//  Write Data to Driver
+//---------------------------------------------------------------------------
+//  -> write(...)
+//---------------------------------------------------------------------------
+
+static ssize_t EplLinWrite(struct file *pInstance_p,	// information about driver instance
+			   const char *pSrcBuff_p,	// address of buffer to get data from
+			   size_t BuffSize_p,	// length of the buffer
+			   loff_t * pFileOffs_p)	// offset in the file
+{
+
+	int iRet;
+
+	TRACE0("EPL: + EplLinWrite...\n");
+
+	TRACE0("EPL:   Sorry, this operation isn't supported.\n");
+	iRet = -EINVAL;
+
+	TRACE1("EPL: - EplLinWrite (iRet=%d)\n", iRet);
+	return (iRet);
+
+}
+
+//---------------------------------------------------------------------------
+//  Generic Access to Driver
+//---------------------------------------------------------------------------
+//  -> ioctl(...)
+//---------------------------------------------------------------------------
+
+static int EplLinIoctl(struct inode *pDeviceFile_p,	// information about the device to open
+		       struct file *pInstance_p,	// information about driver instance
+		       unsigned int uiIoctlCmd_p,	// Ioctl command to execute
+		       unsigned long ulArg_p)	// Ioctl command specific argument/parameter
+{
+
+	tEplKernel EplRet;
+	int iErr;
+	int iRet;
+
+//    TRACE1("EPL: + EplLinIoctl (uiIoctlCmd_p=%d)...\n", uiIoctlCmd_p);
+
+	iRet = -EINVAL;
+
+	switch (uiIoctlCmd_p) {
+		// ----------------------------------------------------------
+	case EPLLIN_CMD_INITIALIZE:
+		{
+			tEplApiInitParam EplApiInitParam;
+
+			iErr =
+			    copy_from_user(&EplApiInitParam,
+					   (const void *)ulArg_p,
+					   sizeof(EplApiInitParam));
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+
+			EplApiInitParam.m_pfnCbEvent = EplLinCbEvent;
+			EplApiInitParam.m_pfnCbSync = EplLinCbSync;
+
+			EplRet = EplApiInitialize(&EplApiInitParam);
+
+			uiEplState_g = EPL_STATE_RUNNING;
+
+			iRet = (int)EplRet;
+			break;
+		}
+
+		// ----------------------------------------------------------
+	case EPLLIN_CMD_SHUTDOWN:
+		{		// shutdown the threads
+
+			// pass control to sync kernel thread, but signal termination
+			atomic_set(&AtomicSyncState_g, EVENT_STATE_TERM);
+			wake_up_interruptible(&WaitQueueCbSync_g);
+			wake_up_interruptible(&WaitQueuePI_In_g);
+
+			// pass control to event queue kernel thread
+			atomic_set(&AtomicEventState_g, EVENT_STATE_TERM);
+			wake_up_interruptible(&WaitQueueCbEvent_g);
+
+			if (uiEplState_g == EPL_STATE_RUNNING) {	// post NmtEventSwitchOff
+				EplRet =
+				    EplApiExecNmtCommand(kEplNmtEventSwitchOff);
+
+			}
+
+			iRet = 0;
+			break;
+		}
+
+		// ----------------------------------------------------------
+	case EPLLIN_CMD_READ_LOCAL_OBJECT:
+		{
+			tEplLinLocalObject LocalObject;
+			void *pData;
+
+			iErr =
+			    copy_from_user(&LocalObject, (const void *)ulArg_p,
+					   sizeof(LocalObject));
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+
+			if ((LocalObject.m_pData == NULL)
+			    || (LocalObject.m_uiSize == 0)) {
+				iRet = (int)kEplApiInvalidParam;
+				goto Exit;
+			}
+
+			pData = vmalloc(LocalObject.m_uiSize);
+			if (pData == NULL) {	// no memory available
+				iRet = -ENOMEM;
+				goto Exit;
+			}
+
+			EplRet =
+			    EplApiReadLocalObject(LocalObject.m_uiIndex,
+						  LocalObject.m_uiSubindex,
+						  pData, &LocalObject.m_uiSize);
+
+			if (EplRet == kEplSuccessful) {
+				iErr =
+				    copy_to_user(LocalObject.m_pData, pData,
+						 LocalObject.m_uiSize);
+
+				vfree(pData);
+
+				if (iErr != 0) {
+					iRet = -EIO;
+					goto Exit;
+				}
+				// return actual size (LocalObject.m_uiSize)
+				iErr = put_user(LocalObject.m_uiSize,
+						(unsigned int *)(ulArg_p +
+								 (unsigned long)
+								 &LocalObject.
+								 m_uiSize -
+								 (unsigned long)
+								 &LocalObject));
+				if (iErr != 0) {
+					iRet = -EIO;
+					goto Exit;
+				}
+
+			} else {
+				vfree(pData);
+			}
+
+			iRet = (int)EplRet;
+			break;
+		}
+
+		// ----------------------------------------------------------
+	case EPLLIN_CMD_WRITE_LOCAL_OBJECT:
+		{
+			tEplLinLocalObject LocalObject;
+			void *pData;
+
+			iErr =
+			    copy_from_user(&LocalObject, (const void *)ulArg_p,
+					   sizeof(LocalObject));
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+
+			if ((LocalObject.m_pData == NULL)
+			    || (LocalObject.m_uiSize == 0)) {
+				iRet = (int)kEplApiInvalidParam;
+				goto Exit;
+			}
+
+			pData = vmalloc(LocalObject.m_uiSize);
+			if (pData == NULL) {	// no memory available
+				iRet = -ENOMEM;
+				goto Exit;
+			}
+			iErr =
+			    copy_from_user(pData, LocalObject.m_pData,
+					   LocalObject.m_uiSize);
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+
+			EplRet =
+			    EplApiWriteLocalObject(LocalObject.m_uiIndex,
+						   LocalObject.m_uiSubindex,
+						   pData, LocalObject.m_uiSize);
+
+			vfree(pData);
+
+			iRet = (int)EplRet;
+			break;
+		}
+
+	case EPLLIN_CMD_READ_OBJECT:
+		{
+			tEplLinSdoObject SdoObject;
+			void *pData;
+			tEplLinSdoBufHeader *pBufHeader;
+			tEplSdoComConHdl *pSdoComConHdl;
+
+			iErr =
+			    copy_from_user(&SdoObject, (const void *)ulArg_p,
+					   sizeof(SdoObject));
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+
+			if ((SdoObject.m_le_pData == NULL)
+			    || (SdoObject.m_uiSize == 0)) {
+				iRet = (int)kEplApiInvalidParam;
+				goto Exit;
+			}
+
+			pBufHeader =
+			    (tEplLinSdoBufHeader *)
+			    vmalloc(sizeof(tEplLinSdoBufHeader) +
+				    SdoObject.m_uiSize);
+			if (pBufHeader == NULL) {	// no memory available
+				iRet = -ENOMEM;
+				goto Exit;
+			}
+			// initiate temporary buffer
+			pBufHeader->m_pUserArg = SdoObject.m_pUserArg;	// original user argument pointer
+			pBufHeader->m_pData = SdoObject.m_le_pData;	// original data pointer from app
+			pData = pBufHeader + sizeof(tEplLinSdoBufHeader);
+
+			if (SdoObject.m_fValidSdoComConHdl != FALSE) {
+				pSdoComConHdl = &SdoObject.m_SdoComConHdl;
+			} else {
+				pSdoComConHdl = NULL;
+			}
+
+			EplRet =
+			    EplApiReadObject(pSdoComConHdl,
+					     SdoObject.m_uiNodeId,
+					     SdoObject.m_uiIndex,
+					     SdoObject.m_uiSubindex, pData,
+					     &SdoObject.m_uiSize,
+					     SdoObject.m_SdoType, pBufHeader);
+
+			// return actual SDO handle (SdoObject.m_SdoComConHdl)
+			iErr = put_user(SdoObject.m_SdoComConHdl,
+					(unsigned int *)(ulArg_p +
+							 (unsigned long)
+							 &SdoObject.
+							 m_SdoComConHdl -
+							 (unsigned long)
+							 &SdoObject));
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+
+			if (EplRet == kEplSuccessful) {
+				iErr =
+				    copy_to_user(SdoObject.m_le_pData, pData,
+						 SdoObject.m_uiSize);
+
+				vfree(pBufHeader);
+
+				if (iErr != 0) {
+					iRet = -EIO;
+					goto Exit;
+				}
+				// return actual size (SdoObject.m_uiSize)
+				iErr = put_user(SdoObject.m_uiSize,
+						(unsigned int *)(ulArg_p +
+								 (unsigned long)
+								 &SdoObject.
+								 m_uiSize -
+								 (unsigned long)
+								 &SdoObject));
+				if (iErr != 0) {
+					iRet = -EIO;
+					goto Exit;
+				}
+			} else if (EplRet != kEplApiTaskDeferred) {	// error ocurred
+				vfree(pBufHeader);
+				if (iErr != 0) {
+					iRet = -EIO;
+					goto Exit;
+				}
+			}
+
+			iRet = (int)EplRet;
+			break;
+		}
+
+	case EPLLIN_CMD_WRITE_OBJECT:
+		{
+			tEplLinSdoObject SdoObject;
+			void *pData;
+			tEplLinSdoBufHeader *pBufHeader;
+			tEplSdoComConHdl *pSdoComConHdl;
+
+			iErr =
+			    copy_from_user(&SdoObject, (const void *)ulArg_p,
+					   sizeof(SdoObject));
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+
+			if ((SdoObject.m_le_pData == NULL)
+			    || (SdoObject.m_uiSize == 0)) {
+				iRet = (int)kEplApiInvalidParam;
+				goto Exit;
+			}
+
+			pBufHeader =
+			    (tEplLinSdoBufHeader *)
+			    vmalloc(sizeof(tEplLinSdoBufHeader) +
+				    SdoObject.m_uiSize);
+			if (pBufHeader == NULL) {	// no memory available
+				iRet = -ENOMEM;
+				goto Exit;
+			}
+			// initiate temporary buffer
+			pBufHeader->m_pUserArg = SdoObject.m_pUserArg;	// original user argument pointer
+			pBufHeader->m_pData = SdoObject.m_le_pData;	// original data pointer from app
+			pData = pBufHeader + sizeof(tEplLinSdoBufHeader);
+
+			iErr =
+			    copy_from_user(pData, SdoObject.m_le_pData,
+					   SdoObject.m_uiSize);
+
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+
+			if (SdoObject.m_fValidSdoComConHdl != FALSE) {
+				pSdoComConHdl = &SdoObject.m_SdoComConHdl;
+			} else {
+				pSdoComConHdl = NULL;
+			}
+
+			EplRet =
+			    EplApiWriteObject(pSdoComConHdl,
+					      SdoObject.m_uiNodeId,
+					      SdoObject.m_uiIndex,
+					      SdoObject.m_uiSubindex, pData,
+					      SdoObject.m_uiSize,
+					      SdoObject.m_SdoType, pBufHeader);
+
+			// return actual SDO handle (SdoObject.m_SdoComConHdl)
+			iErr = put_user(SdoObject.m_SdoComConHdl,
+					(unsigned int *)(ulArg_p +
+							 (unsigned long)
+							 &SdoObject.
+							 m_SdoComConHdl -
+							 (unsigned long)
+							 &SdoObject));
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+
+			if (EplRet != kEplApiTaskDeferred) {	// succeeded or error ocurred, but task not deferred
+				vfree(pBufHeader);
+			}
+
+			iRet = (int)EplRet;
+			break;
+		}
+
+		// ----------------------------------------------------------
+	case EPLLIN_CMD_FREE_SDO_CHANNEL:
+		{
+			// forward SDO handle to EPL stack
+			EplRet =
+			    EplApiFreeSdoChannel((tEplSdoComConHdl) ulArg_p);
+
+			iRet = (int)EplRet;
+			break;
+		}
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+		// ----------------------------------------------------------
+	case EPLLIN_CMD_MN_TRIGGER_STATE_CHANGE:
+		{
+			tEplLinNodeCmdObject NodeCmdObject;
+
+			iErr =
+			    copy_from_user(&NodeCmdObject,
+					   (const void *)ulArg_p,
+					   sizeof(NodeCmdObject));
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+
+			EplRet =
+			    EplApiMnTriggerStateChange(NodeCmdObject.m_uiNodeId,
+						       NodeCmdObject.
+						       m_NodeCommand);
+			iRet = (int)EplRet;
+			break;
+		}
+#endif
+
+		// ----------------------------------------------------------
+	case EPLLIN_CMD_GET_EVENT:
+		{
+			tEplLinEvent Event;
+
+			// save event structure
+			iErr =
+			    copy_from_user(&Event, (const void *)ulArg_p,
+					   sizeof(Event));
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+			// save return code from application's event callback function
+			RetCbEvent_g = Event.m_RetCbEvent;
+
+			if (RetCbEvent_g == kEplShutdown) {
+				// pass control to event queue kernel thread, but signal termination
+				atomic_set(&AtomicEventState_g,
+					   EVENT_STATE_TERM);
+				wake_up_interruptible(&WaitQueueCbEvent_g);
+				// exit with error -> EplApiProcess() will leave the infinite loop
+				iRet = 1;
+				goto Exit;
+			}
+			// pass control to event queue kernel thread
+			atomic_set(&AtomicEventState_g, EVENT_STATE_IOCTL);
+			wake_up_interruptible(&WaitQueueCbEvent_g);
+
+			// fall asleep itself in own wait queue
+			iErr = wait_event_interruptible(WaitQueueProcess_g,
+							(atomic_read
+							 (&AtomicEventState_g)
+							 == EVENT_STATE_READY)
+							||
+							(atomic_read
+							 (&AtomicEventState_g)
+							 == EVENT_STATE_TERM));
+			if (iErr != 0) {	// waiting was interrupted by signal
+				// pass control to event queue kernel thread, but signal termination
+				atomic_set(&AtomicEventState_g,
+					   EVENT_STATE_TERM);
+				wake_up_interruptible(&WaitQueueCbEvent_g);
+				// exit with this error -> EplApiProcess() will leave the infinite loop
+				iRet = iErr;
+				goto Exit;
+			} else if (atomic_read(&AtomicEventState_g) == EVENT_STATE_TERM) {	// termination in progress
+				// pass control to event queue kernel thread, but signal termination
+				wake_up_interruptible(&WaitQueueCbEvent_g);
+				// exit with this error -> EplApiProcess() will leave the infinite loop
+				iRet = 1;
+				goto Exit;
+			}
+			// copy event to user space
+			iErr =
+			    copy_to_user(Event.m_pEventType, &EventType_g,
+					 sizeof(EventType_g));
+			if (iErr != 0) {	// not all data could be copied
+				iRet = -EIO;
+				goto Exit;
+			}
+			// $$$ d.k. perform SDO event processing
+			if (EventType_g == kEplApiEventSdo) {
+				void *pData;
+				tEplLinSdoBufHeader *pBufHeader;
+
+				pBufHeader =
+				    (tEplLinSdoBufHeader *) pEventArg_g->m_Sdo.
+				    m_pUserArg;
+				pData =
+				    pBufHeader + sizeof(tEplLinSdoBufHeader);
+
+				if (pEventArg_g->m_Sdo.m_SdoAccessType ==
+				    kEplSdoAccessTypeRead) {
+					// copy read data to user space
+					iErr =
+					    copy_to_user(pBufHeader->m_pData,
+							 pData,
+							 pEventArg_g->m_Sdo.
+							 m_uiTransferredByte);
+					if (iErr != 0) {	// not all data could be copied
+						iRet = -EIO;
+						goto Exit;
+					}
+				}
+				pEventArg_g->m_Sdo.m_pUserArg =
+				    pBufHeader->m_pUserArg;
+				vfree(pBufHeader);
+			}
+
+			iErr =
+			    copy_to_user(Event.m_pEventArg, pEventArg_g,
+					 min(sizeof(tEplApiEventArg),
+					     Event.m_uiEventArgSize));
+			if (iErr != 0) {	// not all data could be copied
+				iRet = -EIO;
+				goto Exit;
+			}
+			// return to EplApiProcess(), which will call the application's event callback function
+			iRet = 0;
+
+			break;
+		}
+
+		// ----------------------------------------------------------
+	case EPLLIN_CMD_PI_SETUP:
+		{
+			EplRet = EplApiProcessImageSetup();
+			iRet = (int)EplRet;
+
+			break;
+		}
+
+		// ----------------------------------------------------------
+	case EPLLIN_CMD_PI_IN:
+		{
+			tEplApiProcessImage ProcessImageIn;
+
+			// save process image structure
+			iErr =
+			    copy_from_user(&ProcessImageIn,
+					   (const void *)ulArg_p,
+					   sizeof(ProcessImageIn));
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+			// pass control to event queue kernel thread
+			atomic_set(&AtomicSyncState_g, EVENT_STATE_IOCTL);
+
+			// fall asleep itself in own wait queue
+			iErr = wait_event_interruptible(WaitQueuePI_In_g,
+							(atomic_read
+							 (&AtomicSyncState_g) ==
+							 EVENT_STATE_READY)
+							||
+							(atomic_read
+							 (&AtomicSyncState_g) ==
+							 EVENT_STATE_TERM));
+			if (iErr != 0) {	// waiting was interrupted by signal
+				// pass control to sync kernel thread, but signal termination
+				atomic_set(&AtomicSyncState_g,
+					   EVENT_STATE_TERM);
+				wake_up_interruptible(&WaitQueueCbSync_g);
+				// exit with this error -> application will leave the infinite loop
+				iRet = iErr;
+				goto Exit;
+			} else if (atomic_read(&AtomicSyncState_g) == EVENT_STATE_TERM) {	// termination in progress
+				// pass control to sync kernel thread, but signal termination
+				wake_up_interruptible(&WaitQueueCbSync_g);
+				// exit with this error -> application will leave the infinite loop
+				iRet = 1;
+				goto Exit;
+			}
+			// exchange process image
+			EplRet = EplApiProcessImageExchangeIn(&ProcessImageIn);
+
+			// return to EplApiProcessImageExchangeIn()
+			iRet = (int)EplRet;
+
+			break;
+		}
+
+		// ----------------------------------------------------------
+	case EPLLIN_CMD_PI_OUT:
+		{
+			tEplApiProcessImage ProcessImageOut;
+
+			// save process image structure
+			iErr =
+			    copy_from_user(&ProcessImageOut,
+					   (const void *)ulArg_p,
+					   sizeof(ProcessImageOut));
+			if (iErr != 0) {
+				iRet = -EIO;
+				goto Exit;
+			}
+
+			if (atomic_read(&AtomicSyncState_g) !=
+			    EVENT_STATE_READY) {
+				iRet = (int)kEplInvalidOperation;
+				goto Exit;
+			}
+			// exchange process image
+			EplRet =
+			    EplApiProcessImageExchangeOut(&ProcessImageOut);
+
+			// pass control to sync kernel thread
+			atomic_set(&AtomicSyncState_g, EVENT_STATE_TERM);
+			wake_up_interruptible(&WaitQueueCbSync_g);
+
+			// return to EplApiProcessImageExchangeout()
+			iRet = (int)EplRet;
+
+			break;
+		}
+
+		// ----------------------------------------------------------
+	case EPLLIN_CMD_NMT_COMMAND:
+		{
+			// forward NMT command to EPL stack
+			EplRet = EplApiExecNmtCommand((tEplNmtEvent) ulArg_p);
+
+			iRet = (int)EplRet;
+
+			break;
+		}
+
+		// ----------------------------------------------------------
+	default:
+		{
+			break;
+		}
+	}
+
+      Exit:
+
+//    TRACE1("EPL: - EplLinIoctl (iRet=%d)\n", iRet);
+	return (iRet);
+
+}
+
+//=========================================================================//
+//                                                                         //
+//          P R I V A T E   F U N C T I O N S                              //
+//                                                                         //
+//=========================================================================//
+
+tEplKernel PUBLIC EplLinCbEvent(tEplApiEventType EventType_p,	// IN: event type (enum)
+				tEplApiEventArg * pEventArg_p,	// IN: event argument (union)
+				void GENERIC * pUserArg_p)
+{
+	tEplKernel EplRet = kEplSuccessful;
+	int iErr;
+
+	// block any further call to this function, i.e. enter critical section
+	iErr = down_interruptible(&SemaphoreCbEvent_g);
+	if (iErr != 0) {	// waiting was interrupted by signal
+		EplRet = kEplShutdown;
+		goto Exit;
+	}
+	// wait for EplApiProcess() to call ioctl
+	// normally it should be waiting already for us to pass a new event
+	iErr = wait_event_interruptible(WaitQueueCbEvent_g,
+					(atomic_read(&AtomicEventState_g) ==
+					 EVENT_STATE_IOCTL)
+					|| (atomic_read(&AtomicEventState_g) ==
+					    EVENT_STATE_TERM));
+	if ((iErr != 0) || (atomic_read(&AtomicEventState_g) == EVENT_STATE_TERM)) {	// waiting was interrupted by signal
+		EplRet = kEplShutdown;
+		goto LeaveCriticalSection;
+	}
+	// save event information for ioctl
+	EventType_g = EventType_p;
+	pEventArg_g = pEventArg_p;
+
+	// pass control to application's event callback function, i.e. EplApiProcess()
+	atomic_set(&AtomicEventState_g, EVENT_STATE_READY);
+	wake_up_interruptible(&WaitQueueProcess_g);
+
+	// now, the application's event callback function processes the event
+
+	// wait for completion of application's event callback function, i.e. EplApiProcess() calls ioctl again
+	iErr = wait_event_interruptible(WaitQueueCbEvent_g,
+					(atomic_read(&AtomicEventState_g) ==
+					 EVENT_STATE_IOCTL)
+					|| (atomic_read(&AtomicEventState_g) ==
+					    EVENT_STATE_TERM));
+	if ((iErr != 0) || (atomic_read(&AtomicEventState_g) == EVENT_STATE_TERM)) {	// waiting was interrupted by signal
+		EplRet = kEplShutdown;
+		goto LeaveCriticalSection;
+	}
+	// read return code from application's event callback function
+	EplRet = RetCbEvent_g;
+
+      LeaveCriticalSection:
+	up(&SemaphoreCbEvent_g);
+
+      Exit:
+	// check if NMT_GS_OFF is reached
+	if (EventType_p == kEplApiEventNmtStateChange) {
+		if (pEventArg_p->m_NmtStateChange.m_NewNmtState == kEplNmtGsOff) {	// NMT state machine was shut down
+			TRACE0("EPL:   EplLinCbEvent(NMT_GS_OFF)\n");
+			uiEplState_g = EPL_STATE_SHUTDOWN;
+			atomic_set(&AtomicEventState_g, EVENT_STATE_TERM);
+			wake_up(&WaitQueueRelease_g);
+		} else {	// NMT state machine is running
+			uiEplState_g = EPL_STATE_RUNNING;
+		}
+	}
+
+	return EplRet;
+}
+
+tEplKernel PUBLIC EplLinCbSync(void)
+{
+	tEplKernel EplRet = kEplSuccessful;
+	int iErr;
+
+	// check if user process waits for sync
+	if (atomic_read(&AtomicSyncState_g) == EVENT_STATE_IOCTL) {
+		// pass control to application, i.e. EplApiProcessImageExchangeIn()
+		atomic_set(&AtomicSyncState_g, EVENT_STATE_READY);
+		wake_up_interruptible(&WaitQueuePI_In_g);
+
+		// now, the application processes the sync event
+
+		// wait for call of EplApiProcessImageExchangeOut()
+		iErr = wait_event_interruptible(WaitQueueCbSync_g,
+						(atomic_read(&AtomicSyncState_g)
+						 == EVENT_STATE_IOCTL)
+						||
+						(atomic_read(&AtomicSyncState_g)
+						 == EVENT_STATE_TERM));
+		if ((iErr != 0) || (atomic_read(&AtomicEventState_g) == EVENT_STATE_IOCTL)) {	// waiting was interrupted by signal or application called wrong function
+			EplRet = kEplShutdown;
+		}
+	} else {		// application is currently not waiting for sync
+		// continue without interruption
+		// TPDO are set valid by caller (i.e. EplEventkProcess())
+	}
+
+	TGT_DBG_SIGNAL_TRACE_POINT(1);
+
+	return EplRet;
+}
+
+// EOF