Eoe mac address now derived from unique mac.
The EoE MAC address is now derived from the NIC part of the first global
unique MAC address of the linked list of available network interfaces or
otherwise the MAC address used by the EtherCAT master. The EoE MAC address
will get the format 02:NIC:NIC:NIC:RP:RP where NIC comes from the unique MAC
address (if available) and RP is the ring position of the EoE slave.
/******************************************************************************
*
* $Id$
*
* 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");
}
/*****************************************************************************/