/******************************************************************************
*
* $Id$
*
* 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 <linux/termios.h>
#include <linux/slab.h>
#include "../../include/ecrt.h" // EtherCAT realtime interface
#include "../../include/ectty.h" // EtherCAT TTY interface
/*****************************************************************************/
// Optional features
#define PFX "ec_tty_example: "
#define DEBUG 0
/*****************************************************************************/
#define VendorIdBeckhoff 0x00000002
#define ProductCodeBeckhoffEL6002 0x17723052
#define VendorIdIds 0x000012ad
#define ProductCodeIdsCSI71A 0x17723052
/*****************************************************************************/
typedef enum {
SER_REQUEST_INIT,
SER_WAIT_FOR_INIT_RESPONSE,
SER_READY,
SER_SET_RTSCTS,
SER_SET_BAUD_RATE,
SER_SET_DATA_FRAME,
} el60xx_port_state;
#define EL6002_PORT_NAME_SIZE 16
typedef struct {
ec_tty_t *tty;
char name[EL6002_PORT_NAME_SIZE];
size_t max_tx_data_size;
size_t max_rx_data_size;
u8 *tx_data;
u8 tx_data_size;
el60xx_port_state 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;
ec_sdo_request_t *rtscts_sdo;
u8 requested_rtscts;
u8 current_rtscts;
ec_sdo_request_t *baud_sdo;
u8 requested_baud_rate;
u8 current_baud_rate;
ec_sdo_request_t *frame_sdo;
u8 requested_data_frame;
u8 current_data_frame;
unsigned int config_error;
} el60xx_port_t;
#define EL6002_PORTS 2
typedef struct {
struct list_head list;
ec_slave_config_t *sc;
el60xx_port_t port[EL6002_PORTS];
} 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}
};
typedef enum {
PAR_NONE,
PAR_ODD,
PAR_EVEN
} parity_t;
typedef struct {
u8 value;
unsigned int data_bits;
parity_t parity;
unsigned int stop_bits;
} el600x_data_frame_t;
/** EL600x supported values for data frame SDO.
*/
el600x_data_frame_t el600x_data_frame[] = {
{0x01, 7, PAR_EVEN, 1},
{0x09, 7, PAR_EVEN, 2},
{0x02, 7, PAR_ODD, 1},
{0x0a, 7, PAR_ODD, 2},
{0x03, 8, PAR_NONE, 1},
{0x0b, 8, PAR_NONE, 2},
{0x04, 8, PAR_EVEN, 1},
{0x0c, 8, PAR_EVEN, 2},
{0x05, 8, PAR_ODD, 1},
{0x0d, 8, PAR_ODD, 2},
};
typedef struct {
u8 value;
unsigned int baud;
tcflag_t cbaud;
} el600x_baud_rate_t;
/** EL600x supported values for baud rate SDO.
*/
el600x_baud_rate_t el600x_baud_rate[] = {
{1, 300, B300},
{2, 600, B600},
{3, 1200, B1200},
{4, 2400, B2400},
{5, 4800, B4800},
{6, 9600, B9600},
{7, 19200, B19200},
{8, 38400, B38400},
{9, 57600, B57600},
{10, 115200, B115200}
};
/****************************************************************************/
int el60xx_cflag_changed(void *data, tcflag_t cflag)
{
el60xx_port_t *port = (el60xx_port_t *) data;
unsigned int data_bits, stop_bits;
tcflag_t cbaud, rtscts;
parity_t par;
unsigned int i;
el600x_baud_rate_t *b_to_use = NULL;
el600x_data_frame_t *df_to_use = NULL;
#if DEBUG
printk(KERN_INFO PFX "%s(%s, cflag=%x).\n", __func__, port->name, cflag);
#endif
rtscts = cflag & CRTSCTS;
printk(KERN_INFO PFX "%s: Requested RTS/CTS: %s.\n",
port->name, rtscts ? "yes" : "no");
cbaud = cflag & CBAUD;
for (i = 0; i < sizeof(el600x_baud_rate) / sizeof(el600x_baud_rate_t);
i++) {
el600x_baud_rate_t *b = el600x_baud_rate + i;
if (b->cbaud == cbaud) {
b_to_use = b;
break;
}
}
if (b_to_use) {
printk(KERN_INFO PFX "%s: Requested baud rate: %u.\n",
port->name, b_to_use->baud);
} else {
printk(KERN_ERR PFX "Error: %s does not support"
" baud rate index %x.\n", port->name, cbaud);
return -EINVAL;
}
switch (cflag & CSIZE) {
case CS5:
data_bits = 5;
break;
case CS6:
data_bits = 6;
break;
case CS7:
data_bits = 7;
break;
case CS8:
data_bits = 8;
break;
default: /* CS5 or CS6 */
data_bits = 0;
}
if (cflag & PARENB) {
par = (cflag & PARODD) ? PAR_ODD : PAR_EVEN;
} else {
par = PAR_NONE;
}
stop_bits = (cflag & CSTOPB) ? 2 : 1;
printk(KERN_INFO PFX "%s: Requested Data frame: %u%c%u.\n",
port->name, data_bits,
(par == PAR_NONE ? 'N' : (par == PAR_ODD ? 'O' : 'E')),
stop_bits);
for (i = 0; i < sizeof(el600x_data_frame) / sizeof(el600x_data_frame_t);
i++) {
el600x_data_frame_t *df = el600x_data_frame + i;
if (df->data_bits == data_bits &&
df->parity == par &&
df->stop_bits == stop_bits) {
df_to_use = df;
break;
}
}
if (!df_to_use) {
printk(KERN_ERR PFX "Error: %s does not support data frame type.\n",
port->name);
return -EINVAL;
}
port->requested_rtscts = rtscts != 0;
port->requested_baud_rate = b_to_use->value;
port->requested_data_frame = df_to_use->value;
port->config_error = 0;
return 0;
}
/****************************************************************************/
static ec_tty_operations_t el60xx_tty_ops = {
.cflag_changed = el60xx_cflag_changed,
};
/****************************************************************************/
int el60xx_port_init(el60xx_port_t *port, ec_slave_config_t *sc,
ec_domain_t *domain, unsigned int slot_offset, const char *name)
{
int ret = 0;
strncpy(port->name, name, EL6002_PORT_NAME_SIZE);
port->tty = ectty_create(&el60xx_tty_ops, port);
if (IS_ERR(port->tty)) {
printk(KERN_ERR PFX "Failed to create tty for %s.\n",
port->name);
ret = PTR_ERR(port->tty);
goto out_return;
}
port->max_tx_data_size = 22;
port->max_rx_data_size = 22;
port->tx_data = NULL;
port->tx_data_size = 0;
port->state = SER_REQUEST_INIT;
port->tx_request_toggle = 0;
port->rx_accepted_toggle = 0;
port->control = 0x0000;
port->off_ctrl = 0;
port->off_tx = 0;
port->off_status = 0;
port->off_rx = 0;
port->requested_rtscts = 0x00; // no hardware handshake
port->current_rtscts = 0xff;
port->requested_baud_rate = 6; // 9600
port->current_baud_rate = 0;
port->requested_data_frame = 0x03; // 8N1
port->current_data_frame = 0x00;
port->config_error = 0;
if (!(port->rtscts_sdo = ecrt_slave_config_create_sdo_request(sc,
0x8000 + slot_offset, 0x01, 1))) {
printk(KERN_ERR PFX "Failed to create SDO request for %s.\n",
port->name);
ret = -ENOMEM;
goto out_free_tty;
}
if (!(port->baud_sdo = ecrt_slave_config_create_sdo_request(sc,
0x8000 + slot_offset, 0x11, 1))) {
printk(KERN_ERR PFX "Failed to create SDO request for %s.\n",
port->name);
ret = -ENOMEM;
goto out_free_tty;
}
if (!(port->frame_sdo = ecrt_slave_config_create_sdo_request(sc,
0x8000 + slot_offset, 0x15, 1))) {
printk(KERN_ERR PFX "Failed to create SDO request for %s\n",
port->name);
ret = -ENOMEM;
goto out_free_tty;
}
ret = ecrt_slave_config_reg_pdo_entry(
sc, 0x7001 + slot_offset, 0x01, domain, NULL);
if (ret < 0) {
printk(KERN_ERR PFX "Failed to register PDO entry of %s\n",
port->name);
goto out_free_tty;
}
port->off_ctrl = ret;
ret = ecrt_slave_config_reg_pdo_entry(
sc, 0x7000 + slot_offset, 0x11, domain, NULL);
if (ret < 0) {
printk(KERN_ERR PFX "Failed to register PDO entry of %s.\n",
port->name);
goto out_free_tty;
}
port->off_tx = ret;
ret = ecrt_slave_config_reg_pdo_entry(
sc, 0x6001 + slot_offset, 0x01, domain, NULL);
if (ret < 0) {
printk(KERN_ERR PFX "Failed to register PDO entry of %s.\n",
port->name);
goto out_free_tty;
}
port->off_status = ret;
ret = ecrt_slave_config_reg_pdo_entry(
sc, 0x6000 + slot_offset, 0x11, domain, NULL);
if (ret < 0) {
printk(KERN_ERR PFX "Failed to register PDO entry of %s.\n",
port->name);
goto out_free_tty;
}
port->off_rx = ret;
if (port->max_tx_data_size > 0) {
port->tx_data = kmalloc(port->max_tx_data_size, GFP_KERNEL);
if (port->tx_data == NULL) {
printk(KERN_ERR PFX "Failed to allocate %u bytes of TX"
" memory for %s.\n", port->max_tx_data_size, port->name);
ret = -ENOMEM;
goto out_free_tty;
}
}
return 0;
out_free_tty:
ectty_free(port->tty);
out_return:
return ret;
}
/****************************************************************************/
void el60xx_port_clear(el60xx_port_t *port)
{
ectty_free(port->tty);
if (port->tx_data) {
kfree(port->tx_data);
}
}
/****************************************************************************/
void el60xx_port_run(el60xx_port_t *port, u8 *pd)
{
u16 status = EC_READ_U16(pd + port->off_status);
u8 *rx_data = pd + port->off_rx;
uint8_t tx_accepted_toggle, rx_request_toggle;
switch (port->state) {
case SER_READY:
/* Check, if hardware handshaking has to be configured. */
if (!port->config_error &&
port->requested_rtscts != port->current_rtscts) {
EC_WRITE_U8(ecrt_sdo_request_data(port->rtscts_sdo),
port->requested_rtscts);
ecrt_sdo_request_write(port->rtscts_sdo);
port->state = SER_SET_RTSCTS;
break;
}
/* Check, if the baud rate has to be configured. */
if (!port->config_error &&
port->requested_baud_rate != port->current_baud_rate) {
EC_WRITE_U8(ecrt_sdo_request_data(port->baud_sdo),
port->requested_baud_rate);
ecrt_sdo_request_write(port->baud_sdo);
port->state = SER_SET_BAUD_RATE;
break;
}
/* Check, if the data frame has to be configured. */
if (!port->config_error &&
port->requested_data_frame != port->current_data_frame) {
EC_WRITE_U8(ecrt_sdo_request_data(port->frame_sdo),
port->requested_data_frame);
ecrt_sdo_request_write(port->frame_sdo);
port->state = SER_SET_DATA_FRAME;
break;
}
/* Send data */
tx_accepted_toggle = status & 0x0001;
if (tx_accepted_toggle != port->tx_accepted_toggle) { // ready
port->tx_data_size =
ectty_tx_data(port->tty, port->tx_data, port->max_tx_data_size);
if (port->tx_data_size) {
#if DEBUG
printk(KERN_INFO PFX "%s: Sending %u bytes.\n",
port->name, port->tx_data_size);
#endif
port->tx_request_toggle = !port->tx_request_toggle;
port->tx_accepted_toggle = tx_accepted_toggle;
}
}
/* Receive data */
rx_request_toggle = status & 0x0002;
if (rx_request_toggle != port->rx_request_toggle) {
uint8_t rx_data_size = status >> 8;
port->rx_request_toggle = rx_request_toggle;
#if DEBUG
printk(KERN_INFO PFX "%s: Received %u bytes.\n",
port->name, rx_data_size);
#endif
ectty_rx_data(port->tty, rx_data, rx_data_size);
port->rx_accepted_toggle = !port->rx_accepted_toggle;
}
port->control =
port->tx_request_toggle |
port->rx_accepted_toggle << 1 |
port->tx_data_size << 8;
break;
case SER_REQUEST_INIT:
if (status & (1 << 2)) {
port->control = 0x0000;
port->state = SER_WAIT_FOR_INIT_RESPONSE;
} else {
port->control = 1 << 2; // CW.2, request initialization
}
break;
case SER_WAIT_FOR_INIT_RESPONSE:
if (!(status & (1 << 2))) {
printk(KERN_INFO PFX "%s: Init successful.\n", port->name);
port->tx_accepted_toggle = 1;
port->control = 0x0000;
port->state = SER_READY;
}
break;
case SER_SET_RTSCTS:
switch (ecrt_sdo_request_state(port->rtscts_sdo)) {
case EC_REQUEST_SUCCESS:
printk(KERN_INFO PFX "%s: Accepted RTS/CTS.\n",
port->name);
port->current_rtscts = port->requested_rtscts;
port->state = SER_REQUEST_INIT;
break;
case EC_REQUEST_ERROR:
printk(KERN_ERR PFX "Failed to set RTS/CTS on %s!\n",
port->name);
port->state = SER_REQUEST_INIT;
port->config_error = 1;
break;
default:
break;
}
break;
case SER_SET_BAUD_RATE:
switch (ecrt_sdo_request_state(port->baud_sdo)) {
case EC_REQUEST_SUCCESS:
printk(KERN_INFO PFX "%s: Accepted baud rate.\n",
port->name);
port->current_baud_rate = port->requested_baud_rate;
port->state = SER_REQUEST_INIT;
break;
case EC_REQUEST_ERROR:
printk(KERN_ERR PFX "Failed to set baud rate on %s!\n",
port->name);
port->state = SER_REQUEST_INIT;
port->config_error = 1;
break;
default:
break;
}
break;
case SER_SET_DATA_FRAME:
switch (ecrt_sdo_request_state(port->frame_sdo)) {
case EC_REQUEST_SUCCESS:
printk(KERN_INFO PFX "%s: Accepted data frame.\n",
port->name);
port->current_data_frame = port->requested_data_frame;
port->state = SER_REQUEST_INIT;
break;
case EC_REQUEST_ERROR:
printk(KERN_ERR PFX "Failed to set data frame on %s!\n",
port->name);
port->state = SER_REQUEST_INIT;
port->config_error = 1;
break;
default:
break;
}
break;
}
EC_WRITE_U16(pd + port->off_ctrl, port->control);
memcpy(pd + port->off_tx, port->tx_data, port->tx_data_size);
}
/****************************************************************************/
int el6002_init(el6002_t *el6002, ec_master_t *master, u16 position,
ec_domain_t *domain, u32 vendor, u32 product)
{
int ret = 0, i;
if (!(el6002->sc = ecrt_master_slave_config(
master, 0, position, vendor, product))) {
printk(KERN_ERR PFX "EL6002(%u): Failed to create"
" slave configuration.\n", position);
ret = -EBUSY;
goto out_return;
}
if (ecrt_slave_config_pdos(el6002->sc, EC_END, el6002_syncs)) {
printk(KERN_ERR PFX "EL6002(%u): Failed to configure PDOs.\n",
position);
ret = -ENOMEM;
goto out_return;
}
for (i = 0; i < EL6002_PORTS; i++) {
char name[EL6002_PORT_NAME_SIZE];
snprintf(name, EL6002_PORT_NAME_SIZE, "EL6002(%u) X%u",
position, i + 1);
if (el60xx_port_init(el6002->port + i, el6002->sc, domain, i * 0x10,
name)) {
printk(KERN_ERR PFX "EL6002(%u): Failed to init port X%u.\n",
position, i);
goto out_ports;
}
}
return 0;
out_ports:
for (i--; i >= 0; i--) {
el60xx_port_clear(el6002->port + i);
}
out_return:
return ret;
}
/****************************************************************************/
void el6002_clear(el6002_t *el6002)
{
int i;
for (i = 0; i < EL6002_PORTS; i++) {
el60xx_port_clear(el6002->port + i);
}
}
/****************************************************************************/
void el6002_run(el6002_t *el6002, u8 *pd)
{
int i;
for (i = 0; i < EL6002_PORTS; i++) {
el60xx_port_run(el6002->port + i, pd);
}
}
/*****************************************************************************/
void run_serial_devices(u8 *pd)
{
el6002_t *el6002;
list_for_each_entry(el6002, &handlers, list) {
el6002_run(el6002, pd);
}
}
/*****************************************************************************/
int create_el6002_handler(ec_master_t *master, ec_domain_t *domain,
u16 position, u32 vendor, u32 product)
{
el6002_t *el6002;
int ret;
printk(KERN_INFO PFX "Creating handler for EL6002 at position %u\n",
position);
el6002 = kmalloc(sizeof(*el6002), GFP_KERNEL);
if (!el6002) {
printk(KERN_ERR PFX "Failed to allocate serial device object.\n");
return -ENOMEM;
}
ret = el6002_init(el6002, master, position, domain, vendor, product);
if (ret) {
kfree(el6002);
return ret;
}
list_add_tail(&el6002->list, &handlers);
return 0;
}
/*****************************************************************************/
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) {
if (create_el6002_handler(master, domain, i,
slave_info.vendor_id, slave_info.product_code)) {
goto out_free_handlers;
}
}
if (slave_info.vendor_id == VendorIdIds
&& slave_info.product_code == ProductCodeIdsCSI71A) {
if (create_el6002_handler(master, domain, i,
slave_info.vendor_id, slave_info.product_code)) {
goto out_free_handlers;
}
}
}
printk(KERN_INFO PFX "Finished registering serial devices.\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");
}
/*****************************************************************************/