68 |
69 |
69 // process data |
70 // process data |
70 static uint8_t *domain1_pd; // process data memory |
71 static uint8_t *domain1_pd; // process data memory |
71 |
72 |
72 #define BusCouplerPos 0, 0 |
73 #define BusCouplerPos 0, 0 |
73 #define SerialPos 0, 1 |
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74 |
74 |
75 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
75 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
76 #define Beckhoff_EL6002 0x00000002, 0x17723052 |
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77 |
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78 // offsets for PDO entries |
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79 static unsigned int off_ctrl; |
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80 static unsigned int off_tx; |
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81 static unsigned int off_status; |
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82 static unsigned int off_rx; |
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83 |
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84 const static ec_pdo_entry_reg_t domain1_regs[] = { |
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85 {SerialPos, Beckhoff_EL6002, 0x7001, 0x01, &off_ctrl}, |
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86 {SerialPos, Beckhoff_EL6002, 0x7000, 0x11, &off_tx}, |
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87 {SerialPos, Beckhoff_EL6002, 0x6001, 0x01, &off_status}, |
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88 {SerialPos, Beckhoff_EL6002, 0x6000, 0x11, &off_rx}, |
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89 {} |
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90 }; |
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91 |
76 |
92 static unsigned int counter = 0; |
77 static unsigned int counter = 0; |
93 |
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94 typedef enum { |
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95 SER_REQUEST_INIT, |
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96 SER_WAIT_FOR_INIT_RESPONSE, |
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97 SER_READY |
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98 } serial_state_t; |
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99 |
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100 typedef struct { |
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101 size_t max_tx_data_size; |
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102 size_t max_rx_data_size; |
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103 |
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104 uint8_t *tx_data; |
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105 uint8_t tx_data_size; |
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106 |
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107 serial_state_t state; |
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108 |
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109 uint8_t tx_request_toggle; |
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110 uint8_t tx_accepted_toggle; |
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111 |
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112 uint8_t rx_request_toggle; |
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113 uint8_t rx_accepted_toggle; |
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114 |
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115 uint16_t control; |
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116 } serial_device_t; |
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117 |
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118 static serial_device_t *ser = NULL; |
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119 static ec_tty_t *tty = NULL; |
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120 |
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121 /*****************************************************************************/ |
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122 |
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123 /* Slave 1, "EL6002" |
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124 * Vendor ID: 0x00000002 |
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125 * Product code: 0x17723052 |
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126 * Revision number: 0x00100000 |
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127 */ |
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128 |
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129 ec_pdo_entry_info_t slave_1_pdo_entries[] = { |
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130 {0x7001, 0x01, 16}, /* Ctrl */ |
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131 {0x7000, 0x11, 8}, /* Data Out 0 */ |
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132 {0x7000, 0x12, 8}, /* Data Out 1 */ |
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133 {0x7000, 0x13, 8}, /* Data Out 2 */ |
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134 {0x7000, 0x14, 8}, /* Data Out 3 */ |
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135 {0x7000, 0x15, 8}, /* Data Out 4 */ |
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136 {0x7000, 0x16, 8}, /* Data Out 5 */ |
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137 {0x7000, 0x17, 8}, /* Data Out 6 */ |
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138 {0x7000, 0x18, 8}, /* Data Out 7 */ |
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139 {0x7000, 0x19, 8}, /* Data Out 8 */ |
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140 {0x7000, 0x1a, 8}, /* Data Out 9 */ |
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141 {0x7000, 0x1b, 8}, /* Data Out 10 */ |
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142 {0x7000, 0x1c, 8}, /* Data Out 11 */ |
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143 {0x7000, 0x1d, 8}, /* Data Out 12 */ |
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144 {0x7000, 0x1e, 8}, /* Data Out 13 */ |
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145 {0x7000, 0x1f, 8}, /* Data Out 14 */ |
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146 {0x7000, 0x20, 8}, /* Data Out 15 */ |
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147 {0x7000, 0x21, 8}, /* Data Out 16 */ |
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148 {0x7000, 0x22, 8}, /* Data Out 17 */ |
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149 {0x7000, 0x23, 8}, /* Data Out 18 */ |
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150 {0x7000, 0x24, 8}, /* Data Out 19 */ |
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151 {0x7000, 0x25, 8}, /* Data Out 20 */ |
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152 {0x7000, 0x26, 8}, /* Data Out 21 */ |
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153 {0x7011, 0x01, 16}, /* Ctrl */ |
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154 {0x7010, 0x11, 8}, /* Data Out 0 */ |
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155 {0x7010, 0x12, 8}, /* Data Out 1 */ |
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156 {0x7010, 0x13, 8}, /* Data Out 2 */ |
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157 {0x7010, 0x14, 8}, /* Data Out 3 */ |
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158 {0x7010, 0x15, 8}, /* Data Out 4 */ |
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159 {0x7010, 0x16, 8}, /* Data Out 5 */ |
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160 {0x7010, 0x17, 8}, /* Data Out 6 */ |
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161 {0x7010, 0x18, 8}, /* Data Out 7 */ |
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162 {0x7010, 0x19, 8}, /* Data Out 8 */ |
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163 {0x7010, 0x1a, 8}, /* Data Out 9 */ |
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164 {0x7010, 0x1b, 8}, /* Data Out 10 */ |
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165 {0x7010, 0x1c, 8}, /* Data Out 11 */ |
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166 {0x7010, 0x1d, 8}, /* Data Out 12 */ |
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167 {0x7010, 0x1e, 8}, /* Data Out 13 */ |
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168 {0x7010, 0x1f, 8}, /* Data Out 14 */ |
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169 {0x7010, 0x20, 8}, /* Data Out 15 */ |
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170 {0x7010, 0x21, 8}, /* Data Out 16 */ |
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171 {0x7010, 0x22, 8}, /* Data Out 17 */ |
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172 {0x7010, 0x23, 8}, /* Data Out 18 */ |
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173 {0x7010, 0x24, 8}, /* Data Out 19 */ |
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174 {0x7010, 0x25, 8}, /* Data Out 20 */ |
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175 {0x7010, 0x26, 8}, /* Data Out 21 */ |
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176 {0x6001, 0x01, 16}, /* Status */ |
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177 {0x6000, 0x11, 8}, /* Data In 0 */ |
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178 {0x6000, 0x12, 8}, /* Data In 1 */ |
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179 {0x6000, 0x13, 8}, /* Data In 2 */ |
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180 {0x6000, 0x14, 8}, /* Data In 3 */ |
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181 {0x6000, 0x15, 8}, /* Data In 4 */ |
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182 {0x6000, 0x16, 8}, /* Data In 5 */ |
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183 {0x6000, 0x17, 8}, /* Data In 6 */ |
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184 {0x6000, 0x18, 8}, /* Data In 7 */ |
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185 {0x6000, 0x19, 8}, /* Data In 8 */ |
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186 {0x6000, 0x1a, 8}, /* Data In 9 */ |
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187 {0x6000, 0x1b, 8}, /* Data In 10 */ |
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188 {0x6000, 0x1c, 8}, /* Data In 11 */ |
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189 {0x6000, 0x1d, 8}, /* Data In 12 */ |
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190 {0x6000, 0x1e, 8}, /* Data In 13 */ |
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191 {0x6000, 0x1f, 8}, /* Data In 14 */ |
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192 {0x6000, 0x20, 8}, /* Data In 15 */ |
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193 {0x6000, 0x21, 8}, /* Data In 16 */ |
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194 {0x6000, 0x22, 8}, /* Data In 17 */ |
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195 {0x6000, 0x23, 8}, /* Data In 18 */ |
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196 {0x6000, 0x24, 8}, /* Data In 19 */ |
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197 {0x6000, 0x25, 8}, /* Data In 20 */ |
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198 {0x6000, 0x26, 8}, /* Data In 21 */ |
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199 {0x6011, 0x01, 16}, /* Status */ |
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200 {0x6010, 0x11, 8}, /* Data In 0 */ |
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201 {0x6010, 0x12, 8}, /* Data In 1 */ |
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202 {0x6010, 0x13, 8}, /* Data In 2 */ |
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203 {0x6010, 0x14, 8}, /* Data In 3 */ |
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204 {0x6010, 0x15, 8}, /* Data In 4 */ |
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205 {0x6010, 0x16, 8}, /* Data In 5 */ |
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206 {0x6010, 0x17, 8}, /* Data In 6 */ |
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207 {0x6010, 0x18, 8}, /* Data In 7 */ |
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208 {0x6010, 0x19, 8}, /* Data In 8 */ |
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209 {0x6010, 0x1a, 8}, /* Data In 9 */ |
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210 {0x6010, 0x1b, 8}, /* Data In 10 */ |
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211 {0x6010, 0x1c, 8}, /* Data In 11 */ |
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212 {0x6010, 0x1d, 8}, /* Data In 12 */ |
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213 {0x6010, 0x1e, 8}, /* Data In 13 */ |
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214 {0x6010, 0x1f, 8}, /* Data In 14 */ |
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215 {0x6010, 0x20, 8}, /* Data In 15 */ |
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216 {0x6010, 0x21, 8}, /* Data In 16 */ |
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217 {0x6010, 0x22, 8}, /* Data In 17 */ |
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218 {0x6010, 0x23, 8}, /* Data In 18 */ |
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219 {0x6010, 0x24, 8}, /* Data In 19 */ |
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220 {0x6010, 0x25, 8}, /* Data In 20 */ |
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221 {0x6010, 0x26, 8}, /* Data In 21 */ |
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222 }; |
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223 |
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224 ec_pdo_info_t slave_1_pdos[] = { |
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225 {0x1604, 23, slave_1_pdo_entries + 0}, /* COM RxPDO-Map Outputs Ch.1 */ |
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226 {0x1605, 23, slave_1_pdo_entries + 23}, /* COM RxPDO-Map Outputs Ch.2 */ |
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227 {0x1a04, 23, slave_1_pdo_entries + 46}, /* COM TxPDO-Map Inputs Ch.1 */ |
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228 {0x1a05, 23, slave_1_pdo_entries + 69}, /* COM TxPDO-Map Inputs Ch.2 */ |
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229 }; |
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230 |
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231 ec_sync_info_t slave_1_syncs[] = { |
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232 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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233 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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234 {2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_DISABLE}, |
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235 {3, EC_DIR_INPUT, 2, slave_1_pdos + 2, EC_WD_DISABLE}, |
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236 {0xff} |
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237 }; |
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238 |
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239 /****************************************************************************/ |
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240 |
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241 int serial_init(serial_device_t *ser, size_t max_tx, size_t max_rx) |
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242 { |
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243 ser->max_tx_data_size = max_tx; |
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244 ser->max_rx_data_size = max_rx; |
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245 ser->tx_data = NULL; |
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246 ser->tx_data_size = 0; |
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247 ser->state = SER_REQUEST_INIT; |
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248 ser->tx_request_toggle = 0; |
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249 ser->rx_accepted_toggle = 0; |
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250 ser->control = 0x0000; |
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251 |
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252 if (max_tx > 0) { |
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253 ser->tx_data = kmalloc(max_tx, GFP_KERNEL); |
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254 if (ser->tx_data == NULL) { |
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255 return -ENOMEM; |
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256 } |
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257 } |
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258 |
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259 return 0; |
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260 } |
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261 |
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262 /****************************************************************************/ |
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263 |
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264 void serial_clear(serial_device_t *ser) |
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265 { |
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266 if (ser->tx_data) { |
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267 kfree(ser->tx_data); |
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268 } |
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269 } |
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270 |
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271 /****************************************************************************/ |
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272 |
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273 void serial_run(serial_device_t *ser, uint16_t status, uint8_t *rx_data) |
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274 { |
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275 uint8_t tx_accepted_toggle, rx_request_toggle; |
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276 |
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277 switch (ser->state) { |
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278 case SER_READY: |
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279 |
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280 /* Send data */ |
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281 |
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282 tx_accepted_toggle = status & 0x0001; |
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283 if (tx_accepted_toggle != ser->tx_accepted_toggle) { // ready |
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284 ser->tx_data_size = |
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285 ectty_tx_data(tty, ser->tx_data, ser->max_tx_data_size); |
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286 if (ser->tx_data_size) { |
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287 printk(KERN_INFO PFX "Sending %u bytes.\n", ser->tx_data_size); |
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288 ser->tx_request_toggle = !ser->tx_request_toggle; |
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289 ser->tx_accepted_toggle = tx_accepted_toggle; |
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290 } |
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291 } |
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292 |
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293 /* Receive data */ |
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294 |
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295 rx_request_toggle = status & 0x0002; |
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296 if (rx_request_toggle != ser->rx_request_toggle) { |
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297 uint8_t rx_data_size = status >> 8; |
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298 ser->rx_request_toggle = rx_request_toggle; |
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299 printk(KERN_INFO PFX "Received %u bytes.\n", rx_data_size); |
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300 ectty_rx_data(tty, rx_data, rx_data_size); |
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301 ser->rx_accepted_toggle = !ser->rx_accepted_toggle; |
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302 } |
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303 |
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304 ser->control = |
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305 ser->tx_request_toggle | |
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306 ser->rx_accepted_toggle << 1 | |
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307 ser->tx_data_size << 8; |
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308 break; |
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309 |
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310 case SER_REQUEST_INIT: |
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311 if (status & (1 << 2)) { |
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312 ser->control = 0x0000; |
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313 ser->state = SER_WAIT_FOR_INIT_RESPONSE; |
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314 } else { |
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315 ser->control = 1 << 2; // CW.2, request initialization |
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316 } |
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317 break; |
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318 |
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319 case SER_WAIT_FOR_INIT_RESPONSE: |
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320 if (!(status & (1 << 2))) { |
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321 printk(KERN_INFO PFX "Init successful.\n"); |
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322 ser->tx_accepted_toggle = 1; |
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323 ser->control = 0x0000; |
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324 ser->state = SER_READY; |
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325 } |
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326 break; |
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327 } |
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328 |
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329 } |
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330 |
78 |
331 /*****************************************************************************/ |
79 /*****************************************************************************/ |
332 |
80 |
333 void check_domain1_state(void) |
81 void check_domain1_state(void) |
334 { |
82 { |