--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/tty/serial.c Tue Jan 19 19:33:47 2010 +0100
@@ -0,0 +1,455 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * 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 version 2, as
+ * published by the Free Software Foundation.
+ *
+ * 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * ---
+ *
+ * The license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+#include <linux/module.h>
+#include <linux/err.h>
+
+#include "../../include/ecrt.h" // EtherCAT realtime interface
+#include "../../include/ectty.h" // EtherCAT TTY interface
+
+/*****************************************************************************/
+
+// Optional features
+#define PFX "ec_tty_example: "
+
+/*****************************************************************************/
+
+#define VendorIdBeckhoff 0x00000002
+#define ProductCodeBeckhoffEL6002 0x17723052
+#define Beckhoff_EL6002 VendorIdBeckhoff, ProductCodeBeckhoffEL6002
+
+typedef enum {
+ SER_REQUEST_INIT,
+ SER_WAIT_FOR_INIT_RESPONSE,
+ SER_READY
+} serial_state_t;
+
+typedef struct {
+ struct list_head list;
+
+ ec_tty_t *tty;
+ ec_slave_config_t *sc;
+
+ size_t max_tx_data_size;
+ size_t max_rx_data_size;
+
+ u8 *tx_data;
+ u8 tx_data_size;
+
+ serial_state_t state;
+
+ u8 tx_request_toggle;
+ u8 tx_accepted_toggle;
+
+ u8 rx_request_toggle;
+ u8 rx_accepted_toggle;
+
+ u16 control;
+
+ u32 off_ctrl;
+ u32 off_tx;
+ u32 off_status;
+ u32 off_rx;
+} el6002_t;
+
+LIST_HEAD(handlers);
+
+/*****************************************************************************/
+
+/* Beckhoff EL6002
+ * Vendor ID: 0x00000002
+ * Product code: 0x17723052
+ * Revision number: 0x00100000
+ */
+
+ec_pdo_entry_info_t el6002_pdo_entries[] = {
+ {0x7001, 0x01, 16}, /* Ctrl */
+ {0x7000, 0x11, 8}, /* Data Out 0 */
+ {0x7000, 0x12, 8}, /* Data Out 1 */
+ {0x7000, 0x13, 8}, /* Data Out 2 */
+ {0x7000, 0x14, 8}, /* Data Out 3 */
+ {0x7000, 0x15, 8}, /* Data Out 4 */
+ {0x7000, 0x16, 8}, /* Data Out 5 */
+ {0x7000, 0x17, 8}, /* Data Out 6 */
+ {0x7000, 0x18, 8}, /* Data Out 7 */
+ {0x7000, 0x19, 8}, /* Data Out 8 */
+ {0x7000, 0x1a, 8}, /* Data Out 9 */
+ {0x7000, 0x1b, 8}, /* Data Out 10 */
+ {0x7000, 0x1c, 8}, /* Data Out 11 */
+ {0x7000, 0x1d, 8}, /* Data Out 12 */
+ {0x7000, 0x1e, 8}, /* Data Out 13 */
+ {0x7000, 0x1f, 8}, /* Data Out 14 */
+ {0x7000, 0x20, 8}, /* Data Out 15 */
+ {0x7000, 0x21, 8}, /* Data Out 16 */
+ {0x7000, 0x22, 8}, /* Data Out 17 */
+ {0x7000, 0x23, 8}, /* Data Out 18 */
+ {0x7000, 0x24, 8}, /* Data Out 19 */
+ {0x7000, 0x25, 8}, /* Data Out 20 */
+ {0x7000, 0x26, 8}, /* Data Out 21 */
+ {0x7011, 0x01, 16}, /* Ctrl */
+ {0x7010, 0x11, 8}, /* Data Out 0 */
+ {0x7010, 0x12, 8}, /* Data Out 1 */
+ {0x7010, 0x13, 8}, /* Data Out 2 */
+ {0x7010, 0x14, 8}, /* Data Out 3 */
+ {0x7010, 0x15, 8}, /* Data Out 4 */
+ {0x7010, 0x16, 8}, /* Data Out 5 */
+ {0x7010, 0x17, 8}, /* Data Out 6 */
+ {0x7010, 0x18, 8}, /* Data Out 7 */
+ {0x7010, 0x19, 8}, /* Data Out 8 */
+ {0x7010, 0x1a, 8}, /* Data Out 9 */
+ {0x7010, 0x1b, 8}, /* Data Out 10 */
+ {0x7010, 0x1c, 8}, /* Data Out 11 */
+ {0x7010, 0x1d, 8}, /* Data Out 12 */
+ {0x7010, 0x1e, 8}, /* Data Out 13 */
+ {0x7010, 0x1f, 8}, /* Data Out 14 */
+ {0x7010, 0x20, 8}, /* Data Out 15 */
+ {0x7010, 0x21, 8}, /* Data Out 16 */
+ {0x7010, 0x22, 8}, /* Data Out 17 */
+ {0x7010, 0x23, 8}, /* Data Out 18 */
+ {0x7010, 0x24, 8}, /* Data Out 19 */
+ {0x7010, 0x25, 8}, /* Data Out 20 */
+ {0x7010, 0x26, 8}, /* Data Out 21 */
+ {0x6001, 0x01, 16}, /* Status */
+ {0x6000, 0x11, 8}, /* Data In 0 */
+ {0x6000, 0x12, 8}, /* Data In 1 */
+ {0x6000, 0x13, 8}, /* Data In 2 */
+ {0x6000, 0x14, 8}, /* Data In 3 */
+ {0x6000, 0x15, 8}, /* Data In 4 */
+ {0x6000, 0x16, 8}, /* Data In 5 */
+ {0x6000, 0x17, 8}, /* Data In 6 */
+ {0x6000, 0x18, 8}, /* Data In 7 */
+ {0x6000, 0x19, 8}, /* Data In 8 */
+ {0x6000, 0x1a, 8}, /* Data In 9 */
+ {0x6000, 0x1b, 8}, /* Data In 10 */
+ {0x6000, 0x1c, 8}, /* Data In 11 */
+ {0x6000, 0x1d, 8}, /* Data In 12 */
+ {0x6000, 0x1e, 8}, /* Data In 13 */
+ {0x6000, 0x1f, 8}, /* Data In 14 */
+ {0x6000, 0x20, 8}, /* Data In 15 */
+ {0x6000, 0x21, 8}, /* Data In 16 */
+ {0x6000, 0x22, 8}, /* Data In 17 */
+ {0x6000, 0x23, 8}, /* Data In 18 */
+ {0x6000, 0x24, 8}, /* Data In 19 */
+ {0x6000, 0x25, 8}, /* Data In 20 */
+ {0x6000, 0x26, 8}, /* Data In 21 */
+ {0x6011, 0x01, 16}, /* Status */
+ {0x6010, 0x11, 8}, /* Data In 0 */
+ {0x6010, 0x12, 8}, /* Data In 1 */
+ {0x6010, 0x13, 8}, /* Data In 2 */
+ {0x6010, 0x14, 8}, /* Data In 3 */
+ {0x6010, 0x15, 8}, /* Data In 4 */
+ {0x6010, 0x16, 8}, /* Data In 5 */
+ {0x6010, 0x17, 8}, /* Data In 6 */
+ {0x6010, 0x18, 8}, /* Data In 7 */
+ {0x6010, 0x19, 8}, /* Data In 8 */
+ {0x6010, 0x1a, 8}, /* Data In 9 */
+ {0x6010, 0x1b, 8}, /* Data In 10 */
+ {0x6010, 0x1c, 8}, /* Data In 11 */
+ {0x6010, 0x1d, 8}, /* Data In 12 */
+ {0x6010, 0x1e, 8}, /* Data In 13 */
+ {0x6010, 0x1f, 8}, /* Data In 14 */
+ {0x6010, 0x20, 8}, /* Data In 15 */
+ {0x6010, 0x21, 8}, /* Data In 16 */
+ {0x6010, 0x22, 8}, /* Data In 17 */
+ {0x6010, 0x23, 8}, /* Data In 18 */
+ {0x6010, 0x24, 8}, /* Data In 19 */
+ {0x6010, 0x25, 8}, /* Data In 20 */
+ {0x6010, 0x26, 8}, /* Data In 21 */
+};
+
+ec_pdo_info_t el6002_pdos[] = {
+ {0x1604, 23, el6002_pdo_entries + 0}, /* COM RxPDO-Map Outputs Ch.1 */
+ {0x1605, 23, el6002_pdo_entries + 23}, /* COM RxPDO-Map Outputs Ch.2 */
+ {0x1a04, 23, el6002_pdo_entries + 46}, /* COM TxPDO-Map Inputs Ch.1 */
+ {0x1a05, 23, el6002_pdo_entries + 69}, /* COM TxPDO-Map Inputs Ch.2 */
+};
+
+ec_sync_info_t el6002_syncs[] = {
+ {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
+ {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
+ {2, EC_DIR_OUTPUT, 2, el6002_pdos + 0, EC_WD_DISABLE},
+ {3, EC_DIR_INPUT, 2, el6002_pdos + 2, EC_WD_DISABLE},
+ {0xff}
+};
+
+/****************************************************************************/
+
+int el6002_init(el6002_t *ser, ec_master_t *master, u16 position,
+ ec_domain_t *domain)
+{
+ int ret = 0;
+
+ ser->tty = ectty_create();
+ if (IS_ERR(ser->tty)) {
+ printk(KERN_ERR PFX "Failed to create tty.\n");
+ ret = PTR_ERR(ser->tty);
+ goto out_return;
+ }
+
+ ser->sc = NULL;
+ ser->max_tx_data_size = 22;
+ ser->max_rx_data_size = 22;
+ ser->tx_data = NULL;
+ ser->tx_data_size = 0;
+ ser->state = SER_REQUEST_INIT;
+ ser->tx_request_toggle = 0;
+ ser->rx_accepted_toggle = 0;
+ ser->control = 0x0000;
+ ser->off_ctrl = 0;
+ ser->off_tx = 0;
+ ser->off_status = 0;
+ ser->off_rx = 0;
+
+ if (!(ser->sc = ecrt_master_slave_config(
+ master, 0, position, Beckhoff_EL6002))) {
+ printk(KERN_ERR PFX "Failed to create slave configuration.\n");
+ ret = -EBUSY;
+ goto out_free_tty;
+ }
+
+ if (ecrt_slave_config_pdos(ser->sc, EC_END, el6002_syncs)) {
+ printk(KERN_ERR PFX "Failed to configure PDOs.\n");
+ ret = -ENOMEM;
+ goto out_free_tty;
+ }
+
+ ret = ecrt_slave_config_reg_pdo_entry(
+ ser->sc, 0x7001, 0x01, domain, NULL);
+ if (ret < 0) {
+ printk(KERN_ERR PFX "Failed to register PDO entry.\n");
+ goto out_free_tty;
+ }
+ ser->off_ctrl = ret;
+
+ ret = ecrt_slave_config_reg_pdo_entry(
+ ser->sc, 0x7000, 0x11, domain, NULL);
+ if (ret < 0) {
+ printk(KERN_ERR PFX "Failed to register PDO entry.\n");
+ goto out_free_tty;
+ }
+ ser->off_tx = ret;
+
+ ret = ecrt_slave_config_reg_pdo_entry(
+ ser->sc, 0x6001, 0x01, domain, NULL);
+ if (ret < 0) {
+ printk(KERN_ERR PFX "Failed to register PDO entry.\n");
+ goto out_free_tty;
+ }
+ ser->off_status = ret;
+
+ ret = ecrt_slave_config_reg_pdo_entry(
+ ser->sc, 0x6000, 0x11, domain, NULL);
+ if (ret < 0) {
+ printk(KERN_ERR PFX "Failed to register PDO entry.\n");
+ goto out_free_tty;
+ }
+ ser->off_rx = ret;
+
+ if (ser->max_tx_data_size > 0) {
+ ser->tx_data = kmalloc(ser->max_tx_data_size, GFP_KERNEL);
+ if (ser->tx_data == NULL) {
+ ret = -ENOMEM;
+ goto out_free_tty;
+ }
+ }
+
+ return 0;
+
+out_free_tty:
+ ectty_free(ser->tty);
+out_return:
+ return ret;
+}
+
+/****************************************************************************/
+
+void el6002_clear(el6002_t *ser)
+{
+ ectty_free(ser->tty);
+ if (ser->tx_data) {
+ kfree(ser->tx_data);
+ }
+}
+
+/****************************************************************************/
+
+void el6002_run(el6002_t *ser, u8 *pd)
+{
+ u16 status = EC_READ_U16(pd + ser->off_status);
+ u8 *rx_data = pd + ser->off_rx;
+ uint8_t tx_accepted_toggle, rx_request_toggle;
+
+ switch (ser->state) {
+ case SER_READY:
+
+ /* Send data */
+
+ tx_accepted_toggle = status & 0x0001;
+ if (tx_accepted_toggle != ser->tx_accepted_toggle) { // ready
+ ser->tx_data_size =
+ ectty_tx_data(ser->tty, ser->tx_data, ser->max_tx_data_size);
+ if (ser->tx_data_size) {
+ printk(KERN_INFO PFX "Sending %u bytes.\n", ser->tx_data_size);
+ ser->tx_request_toggle = !ser->tx_request_toggle;
+ ser->tx_accepted_toggle = tx_accepted_toggle;
+ }
+ }
+
+ /* Receive data */
+
+ rx_request_toggle = status & 0x0002;
+ if (rx_request_toggle != ser->rx_request_toggle) {
+ uint8_t rx_data_size = status >> 8;
+ ser->rx_request_toggle = rx_request_toggle;
+ printk(KERN_INFO PFX "Received %u bytes.\n", rx_data_size);
+ ectty_rx_data(ser->tty, rx_data, rx_data_size);
+ ser->rx_accepted_toggle = !ser->rx_accepted_toggle;
+ }
+
+ ser->control =
+ ser->tx_request_toggle |
+ ser->rx_accepted_toggle << 1 |
+ ser->tx_data_size << 8;
+ break;
+
+ case SER_REQUEST_INIT:
+ if (status & (1 << 2)) {
+ ser->control = 0x0000;
+ ser->state = SER_WAIT_FOR_INIT_RESPONSE;
+ } else {
+ ser->control = 1 << 2; // CW.2, request initialization
+ }
+ break;
+
+ case SER_WAIT_FOR_INIT_RESPONSE:
+ if (!(status & (1 << 2))) {
+ printk(KERN_INFO PFX "Init successful.\n");
+ ser->tx_accepted_toggle = 1;
+ ser->control = 0x0000;
+ ser->state = SER_READY;
+ }
+ break;
+ }
+
+ EC_WRITE_U16(pd + ser->off_ctrl, ser->control);
+ memcpy(pd + ser->off_tx, ser->tx_data, ser->tx_data_size);
+}
+
+/*****************************************************************************/
+
+void run_serial_devices(u8 *pd)
+{
+ el6002_t *ser;
+
+ list_for_each_entry(ser, &handlers, list) {
+ el6002_run(ser, pd);
+ }
+}
+
+/*****************************************************************************/
+
+int create_serial_devices(ec_master_t *master, ec_domain_t *domain)
+{
+ int i, ret;
+ ec_master_info_t master_info;
+ ec_slave_info_t slave_info;
+ el6002_t *ser, *next;
+
+ printk(KERN_INFO PFX "Registering serial devices...\n");
+
+ ret = ecrt_master(master, &master_info);
+ if (ret) {
+ printk(KERN_ERR PFX "Failed to obtain master information.\n");
+ goto out_return;
+ }
+
+ for (i = 0; i < master_info.slave_count; i++) {
+ ret = ecrt_master_get_slave(master, i, &slave_info);
+ if (ret) {
+ printk(KERN_ERR PFX "Failed to obtain slave information.\n");
+ goto out_free_handlers;
+ }
+
+ if (slave_info.vendor_id != VendorIdBeckhoff
+ || slave_info.product_code != ProductCodeBeckhoffEL6002) {
+ continue;
+ }
+
+ printk(KERN_INFO PFX "Creating handler for serial device"
+ " at position %i\n", i);
+
+ ser = kmalloc(sizeof(*ser), GFP_KERNEL);
+ if (!ser) {
+ printk(KERN_ERR PFX "Failed to allocate serial device object.\n");
+ ret = -ENOMEM;
+ goto out_free_handlers;
+ }
+
+ ret = el6002_init(ser, master, i, domain);
+ if (ret) {
+ printk(KERN_ERR PFX "Failed to init serial device object.\n");
+ kfree(ser);
+ goto out_free_handlers;
+ }
+
+ list_add_tail(&ser->list, &handlers);
+ }
+
+
+ printk(KERN_INFO PFX "Finished.\n");
+ return 0;
+
+out_free_handlers:
+ list_for_each_entry_safe(ser, next, &handlers, list) {
+ list_del(&ser->list);
+ el6002_clear(ser);
+ kfree(ser);
+ }
+out_return:
+ return ret;
+}
+
+/*****************************************************************************/
+
+void free_serial_devices(void)
+{
+ el6002_t *ser, *next;
+
+ printk(KERN_INFO PFX "Cleaning up serial devices...\n");
+
+ list_for_each_entry_safe(ser, next, &handlers, list) {
+ list_del(&ser->list);
+ el6002_clear(ser);
+ kfree(ser);
+ }
+
+ printk(KERN_INFO PFX "Finished cleaning up serial devices.\n");
+}
+
+/*****************************************************************************/