fp@1613: /******************************************************************************
fp@1613:  *
fp@1613:  *  $Id$
fp@1613:  *
fp@1613:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@1613:  *
fp@1613:  *  This file is part of the IgH EtherCAT Master.
fp@1613:  *
fp@1613:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1613:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1613:  *  published by the Free Software Foundation.
fp@1613:  *
fp@1613:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1613:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1613:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1613:  *  Public License for more details.
fp@1613:  *
fp@1613:  *  You should have received a copy of the GNU General Public License along
fp@1613:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1613:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1613:  *
fp@1613:  *  ---
fp@1613:  *
fp@1613:  *  The license mentioned above concerns the source code only. Using the
fp@1613:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1613:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1613:  *
fp@1613:  *****************************************************************************/
fp@1613: 
fp@1613: #include <linux/module.h>
fp@1613: #include <linux/err.h>
fp@1779: #include <linux/termios.h>
fp@1975: #include <linux/slab.h>
fp@1613: 
fp@1613: #include "../../include/ecrt.h" // EtherCAT realtime interface
fp@1613: #include "../../include/ectty.h" // EtherCAT TTY interface
fp@1613: 
fp@1613: /*****************************************************************************/
fp@1613: 
fp@1613: // Optional features
fp@1613: #define PFX "ec_tty_example: "
fp@1613: 
fp@1782: #define DEBUG 0
fp@1782: 
fp@1613: /*****************************************************************************/
fp@1613: 
fp@1613: #define VendorIdBeckhoff 0x00000002
fp@1613: #define ProductCodeBeckhoffEL6002 0x17723052
fp@1783: 
fp@1783: #define VendorIdIds 0x000012ad
fp@1783: #define ProductCodeIdsCSI71A 0x17723052
fp@1783: 
fp@1783: /*****************************************************************************/
fp@1613: 
fp@1613: typedef enum {
fp@1613:     SER_REQUEST_INIT,
fp@1613:     SER_WAIT_FOR_INIT_RESPONSE,
fp@1782:     SER_READY,
fp@1782:     SER_SET_RTSCTS,
fp@1782:     SER_SET_BAUD_RATE,
fp@1782:     SER_SET_DATA_FRAME,
fp@1784: } el60xx_port_state;
fp@1613: 
fp@1785: #define EL6002_PORT_NAME_SIZE 16
fp@1785: 
fp@1613: typedef struct {
fp@1613:     ec_tty_t *tty;
fp@1785:     char name[EL6002_PORT_NAME_SIZE];
fp@1613: 
fp@1613:     size_t max_tx_data_size;
fp@1613:     size_t max_rx_data_size;
fp@1613: 
fp@1613:     u8 *tx_data;
fp@1613:     u8 tx_data_size;
fp@1613: 
fp@1784:     el60xx_port_state state;
fp@1613: 
fp@1613:     u8 tx_request_toggle;
fp@1613:     u8 tx_accepted_toggle;
fp@1613: 
fp@1613:     u8 rx_request_toggle;
fp@1613:     u8 rx_accepted_toggle;
fp@1613: 
fp@1613:     u16 control;
fp@1613: 
fp@1613:     u32 off_ctrl;
fp@1613:     u32 off_tx;
fp@1613:     u32 off_status;
fp@1613:     u32 off_rx;
fp@1780: 
fp@1782:     ec_sdo_request_t *rtscts_sdo;
fp@1782:     u8 requested_rtscts;
fp@1782:     u8 current_rtscts;
fp@1782: 
fp@1782:     ec_sdo_request_t *baud_sdo;
fp@1782:     u8 requested_baud_rate;
fp@1782:     u8 current_baud_rate;
fp@1782: 
fp@1782:     ec_sdo_request_t *frame_sdo;
fp@1782:     u8 requested_data_frame;
fp@1782:     u8 current_data_frame;
fp@1782: 
fp@1782:     unsigned int config_error;
fp@1780: 
fp@1784: } el60xx_port_t;
fp@1784: 
fp@1784: #define EL6002_PORTS 2
fp@1784: 
fp@1784: typedef struct {
fp@1784:     struct list_head list;
fp@1784:     ec_slave_config_t *sc;
fp@1784:     el60xx_port_t port[EL6002_PORTS];
fp@1613: } el6002_t;
fp@1613: 
fp@1615: LIST_HEAD(handlers);
fp@1613:         
fp@1613: /*****************************************************************************/
fp@1613: 
fp@1613: /* Beckhoff EL6002
fp@1613:  * Vendor ID:       0x00000002
fp@1613:  * Product code:    0x17723052
fp@1613:  * Revision number: 0x00100000
fp@1613:  */
fp@1613: 
fp@1613: ec_pdo_entry_info_t el6002_pdo_entries[] = {
fp@1613:    {0x7001, 0x01, 16}, /* Ctrl */
fp@1613:    {0x7000, 0x11, 8}, /* Data Out 0 */
fp@1613:    {0x7000, 0x12, 8}, /* Data Out 1 */
fp@1613:    {0x7000, 0x13, 8}, /* Data Out 2 */
fp@1613:    {0x7000, 0x14, 8}, /* Data Out 3 */
fp@1613:    {0x7000, 0x15, 8}, /* Data Out 4 */
fp@1613:    {0x7000, 0x16, 8}, /* Data Out 5 */
fp@1613:    {0x7000, 0x17, 8}, /* Data Out 6 */
fp@1613:    {0x7000, 0x18, 8}, /* Data Out 7 */
fp@1613:    {0x7000, 0x19, 8}, /* Data Out 8 */
fp@1613:    {0x7000, 0x1a, 8}, /* Data Out 9 */
fp@1613:    {0x7000, 0x1b, 8}, /* Data Out 10 */
fp@1613:    {0x7000, 0x1c, 8}, /* Data Out 11 */
fp@1613:    {0x7000, 0x1d, 8}, /* Data Out 12 */
fp@1613:    {0x7000, 0x1e, 8}, /* Data Out 13 */
fp@1613:    {0x7000, 0x1f, 8}, /* Data Out 14 */
fp@1613:    {0x7000, 0x20, 8}, /* Data Out 15 */
fp@1613:    {0x7000, 0x21, 8}, /* Data Out 16 */
fp@1613:    {0x7000, 0x22, 8}, /* Data Out 17 */
fp@1613:    {0x7000, 0x23, 8}, /* Data Out 18 */
fp@1613:    {0x7000, 0x24, 8}, /* Data Out 19 */
fp@1613:    {0x7000, 0x25, 8}, /* Data Out 20 */
fp@1613:    {0x7000, 0x26, 8}, /* Data Out 21 */
fp@1613:    {0x7011, 0x01, 16}, /* Ctrl */
fp@1613:    {0x7010, 0x11, 8}, /* Data Out 0 */
fp@1613:    {0x7010, 0x12, 8}, /* Data Out 1 */
fp@1613:    {0x7010, 0x13, 8}, /* Data Out 2 */
fp@1613:    {0x7010, 0x14, 8}, /* Data Out 3 */
fp@1613:    {0x7010, 0x15, 8}, /* Data Out 4 */
fp@1613:    {0x7010, 0x16, 8}, /* Data Out 5 */
fp@1613:    {0x7010, 0x17, 8}, /* Data Out 6 */
fp@1613:    {0x7010, 0x18, 8}, /* Data Out 7 */
fp@1613:    {0x7010, 0x19, 8}, /* Data Out 8 */
fp@1613:    {0x7010, 0x1a, 8}, /* Data Out 9 */
fp@1613:    {0x7010, 0x1b, 8}, /* Data Out 10 */
fp@1613:    {0x7010, 0x1c, 8}, /* Data Out 11 */
fp@1613:    {0x7010, 0x1d, 8}, /* Data Out 12 */
fp@1613:    {0x7010, 0x1e, 8}, /* Data Out 13 */
fp@1613:    {0x7010, 0x1f, 8}, /* Data Out 14 */
fp@1613:    {0x7010, 0x20, 8}, /* Data Out 15 */
fp@1613:    {0x7010, 0x21, 8}, /* Data Out 16 */
fp@1613:    {0x7010, 0x22, 8}, /* Data Out 17 */
fp@1613:    {0x7010, 0x23, 8}, /* Data Out 18 */
fp@1613:    {0x7010, 0x24, 8}, /* Data Out 19 */
fp@1613:    {0x7010, 0x25, 8}, /* Data Out 20 */
fp@1613:    {0x7010, 0x26, 8}, /* Data Out 21 */
fp@1613:    {0x6001, 0x01, 16}, /* Status */
fp@1613:    {0x6000, 0x11, 8}, /* Data In 0 */
fp@1613:    {0x6000, 0x12, 8}, /* Data In 1 */
fp@1613:    {0x6000, 0x13, 8}, /* Data In 2 */
fp@1613:    {0x6000, 0x14, 8}, /* Data In 3 */
fp@1613:    {0x6000, 0x15, 8}, /* Data In 4 */
fp@1613:    {0x6000, 0x16, 8}, /* Data In 5 */
fp@1613:    {0x6000, 0x17, 8}, /* Data In 6 */
fp@1613:    {0x6000, 0x18, 8}, /* Data In 7 */
fp@1613:    {0x6000, 0x19, 8}, /* Data In 8 */
fp@1613:    {0x6000, 0x1a, 8}, /* Data In 9 */
fp@1613:    {0x6000, 0x1b, 8}, /* Data In 10 */
fp@1613:    {0x6000, 0x1c, 8}, /* Data In 11 */
fp@1613:    {0x6000, 0x1d, 8}, /* Data In 12 */
fp@1613:    {0x6000, 0x1e, 8}, /* Data In 13 */
fp@1613:    {0x6000, 0x1f, 8}, /* Data In 14 */
fp@1613:    {0x6000, 0x20, 8}, /* Data In 15 */
fp@1613:    {0x6000, 0x21, 8}, /* Data In 16 */
fp@1613:    {0x6000, 0x22, 8}, /* Data In 17 */
fp@1613:    {0x6000, 0x23, 8}, /* Data In 18 */
fp@1613:    {0x6000, 0x24, 8}, /* Data In 19 */
fp@1613:    {0x6000, 0x25, 8}, /* Data In 20 */
fp@1613:    {0x6000, 0x26, 8}, /* Data In 21 */
fp@1613:    {0x6011, 0x01, 16}, /* Status */
fp@1613:    {0x6010, 0x11, 8}, /* Data In 0 */
fp@1613:    {0x6010, 0x12, 8}, /* Data In 1 */
fp@1613:    {0x6010, 0x13, 8}, /* Data In 2 */
fp@1613:    {0x6010, 0x14, 8}, /* Data In 3 */
fp@1613:    {0x6010, 0x15, 8}, /* Data In 4 */
fp@1613:    {0x6010, 0x16, 8}, /* Data In 5 */
fp@1613:    {0x6010, 0x17, 8}, /* Data In 6 */
fp@1613:    {0x6010, 0x18, 8}, /* Data In 7 */
fp@1613:    {0x6010, 0x19, 8}, /* Data In 8 */
fp@1613:    {0x6010, 0x1a, 8}, /* Data In 9 */
fp@1613:    {0x6010, 0x1b, 8}, /* Data In 10 */
fp@1613:    {0x6010, 0x1c, 8}, /* Data In 11 */
fp@1613:    {0x6010, 0x1d, 8}, /* Data In 12 */
fp@1613:    {0x6010, 0x1e, 8}, /* Data In 13 */
fp@1613:    {0x6010, 0x1f, 8}, /* Data In 14 */
fp@1613:    {0x6010, 0x20, 8}, /* Data In 15 */
fp@1613:    {0x6010, 0x21, 8}, /* Data In 16 */
fp@1613:    {0x6010, 0x22, 8}, /* Data In 17 */
fp@1613:    {0x6010, 0x23, 8}, /* Data In 18 */
fp@1613:    {0x6010, 0x24, 8}, /* Data In 19 */
fp@1613:    {0x6010, 0x25, 8}, /* Data In 20 */
fp@1613:    {0x6010, 0x26, 8}, /* Data In 21 */
fp@1613: };
fp@1613: 
fp@1613: ec_pdo_info_t el6002_pdos[] = {
fp@1613:    {0x1604, 23, el6002_pdo_entries + 0}, /* COM RxPDO-Map Outputs Ch.1 */
fp@1613:    {0x1605, 23, el6002_pdo_entries + 23}, /* COM RxPDO-Map Outputs Ch.2 */
fp@1613:    {0x1a04, 23, el6002_pdo_entries + 46}, /* COM TxPDO-Map Inputs Ch.1 */
fp@1613:    {0x1a05, 23, el6002_pdo_entries + 69}, /* COM TxPDO-Map Inputs Ch.2 */
fp@1613: };
fp@1613: 
fp@1613: ec_sync_info_t el6002_syncs[] = {
fp@1613:    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
fp@1613:    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
fp@1613:    {2, EC_DIR_OUTPUT, 2, el6002_pdos + 0, EC_WD_DISABLE},
fp@1613:    {3, EC_DIR_INPUT, 2, el6002_pdos + 2, EC_WD_DISABLE},
fp@1613:    {0xff}
fp@1613: };
fp@1613: 
fp@1780: typedef enum {
fp@1780:     PAR_NONE,
fp@1780:     PAR_ODD,
fp@1780:     PAR_EVEN
fp@1780: } parity_t;
fp@1780: 
fp@1780: typedef struct {
fp@1780:     u8 value;
fp@1782:     unsigned int data_bits;
fp@1780:     parity_t parity;
fp@1782:     unsigned int stop_bits;
fp@1780: } el600x_data_frame_t;
fp@1780: 
fp@1782: /** EL600x supported values for data frame SDO.
fp@1780:  */
fp@1780: el600x_data_frame_t el600x_data_frame[] = {
fp@1780:     {0x01, 7, PAR_EVEN, 1},
fp@1780:     {0x09, 7, PAR_EVEN, 2},
fp@1780:     {0x02, 7, PAR_ODD,  1},
fp@1780:     {0x0a, 7, PAR_ODD,  2},
fp@1780:     {0x03, 8, PAR_NONE, 1},
fp@1780:     {0x0b, 8, PAR_NONE, 2},
fp@1780:     {0x04, 8, PAR_EVEN, 1},
fp@1780:     {0x0c, 8, PAR_EVEN, 2},
fp@1780:     {0x05, 8, PAR_ODD,  1},
fp@1780:     {0x0d, 8, PAR_ODD,  2},
fp@1780: };
fp@1780: 
fp@1782: typedef struct {
fp@1782:     u8 value;
fp@1782:     unsigned int baud;
fp@1782:     tcflag_t cbaud;
fp@1782: } el600x_baud_rate_t;
fp@1782: 
fp@1782: /** EL600x supported values for baud rate SDO.
fp@1782:  */
fp@1782: el600x_baud_rate_t el600x_baud_rate[] = {
fp@1782:     {1,   300,    B300},
fp@1782:     {2,   600,    B600},
fp@1782:     {3,   1200,   B1200},
fp@1782:     {4,   2400,   B2400},
fp@1782:     {5,   4800,   B4800},
fp@1782:     {6,   9600,   B9600},
fp@1782:     {7,   19200,  B19200},
fp@1782:     {8,   38400,  B38400},
fp@1782:     {9,   57600,  B57600},
fp@1782:     {10,  115200, B115200}
fp@1782: };
fp@1782: 
fp@1613: /****************************************************************************/
fp@1613: 
fp@1784: int el60xx_cflag_changed(void *data, tcflag_t cflag)
fp@1784: {
fp@1784:     el60xx_port_t *port = (el60xx_port_t *) data;
fp@1782:     unsigned int data_bits, stop_bits;
fp@1782:     tcflag_t cbaud, rtscts;
fp@1780:     parity_t par;
fp@1780:     unsigned int i;
fp@1782:     el600x_baud_rate_t *b_to_use = NULL;
fp@1780:     el600x_data_frame_t *df_to_use = NULL;
fp@1779: 
fp@1782: #if DEBUG
fp@1785:     printk(KERN_INFO PFX "%s(%s, cflag=%x).\n", __func__, port->name, cflag);
fp@1782: #endif
fp@1782: 
fp@1782:     rtscts = cflag & CRTSCTS;
fp@1785:     printk(KERN_INFO PFX "%s: Requested RTS/CTS: %s.\n",
fp@1785:             port->name, rtscts ? "yes" : "no");
fp@1782:     
fp@1782:     cbaud = cflag & CBAUD;
fp@1782: 
fp@1782:     for (i = 0; i < sizeof(el600x_baud_rate) / sizeof(el600x_baud_rate_t);
fp@1782:             i++) {
fp@1782:         el600x_baud_rate_t *b = el600x_baud_rate + i;
fp@1782:         if (b->cbaud == cbaud) {
fp@1782:             b_to_use = b;
fp@1782:             break;
fp@1782:         }
fp@1782:     }
fp@1782: 
fp@1782:     if (b_to_use) {
fp@1785:         printk(KERN_INFO PFX "%s: Requested baud rate: %u.\n",
fp@1785:                 port->name, b_to_use->baud);
fp@1782:     } else {
fp@1785:         printk(KERN_ERR PFX "Error: %s does not support"
fp@1785:                 " baud rate index %x.\n", port->name, cbaud);
fp@1782:         return -EINVAL;
fp@1782:     }
fp@1779: 
fp@1779:     switch (cflag & CSIZE) {
fp@1780:         case CS5:
fp@1780:             data_bits = 5;
fp@1780:             break;
fp@1780:         case CS6:
fp@1780:             data_bits = 6;
fp@1780:             break;
fp@1779:         case CS7:
fp@1780:             data_bits = 7;
fp@1779:             break;
fp@1779:         case CS8:
fp@1780:             data_bits = 8;
fp@1779:             break;
fp@1779:         default: /* CS5 or CS6 */
fp@1780:             data_bits = 0;
fp@1780:     }
fp@1779: 
fp@1779:     if (cflag & PARENB) {
fp@1780:         par = (cflag & PARODD) ? PAR_ODD : PAR_EVEN;
fp@1779:     } else {
fp@1780:         par = PAR_NONE;
fp@1780:     }
fp@1780: 
fp@1780:     stop_bits = (cflag & CSTOPB) ? 2 : 1;
fp@1780: 
fp@1785:     printk(KERN_INFO PFX "%s: Requested Data frame: %u%c%u.\n",
fp@1785:             port->name, data_bits,
fp@1780:             (par == PAR_NONE ? 'N' : (par == PAR_ODD ? 'O' : 'E')),
fp@1780:             stop_bits);
fp@1780: 
fp@1780:     for (i = 0; i < sizeof(el600x_data_frame) / sizeof(el600x_data_frame_t);
fp@1780:             i++) {
fp@1780:         el600x_data_frame_t *df = el600x_data_frame + i;
fp@1780:         if (df->data_bits == data_bits &&
fp@1780:                 df->parity == par &&
fp@1780:                 df->stop_bits == stop_bits) {
fp@1780:             df_to_use = df;
fp@1780:             break;
fp@1780:         }
fp@1780:     }
fp@1780: 
fp@1780:     if (!df_to_use) {
fp@1785:         printk(KERN_ERR PFX "Error: %s does not support data frame type.\n",
fp@1785:                 port->name);
fp@1780:         return -EINVAL;
fp@1780:     }
fp@1780: 
fp@1784:     port->requested_rtscts = rtscts != 0;
fp@1784:     port->requested_baud_rate = b_to_use->value;
fp@1784:     port->requested_data_frame = df_to_use->value;
fp@1784:     port->config_error = 0;
fp@1779:     return 0;
fp@1779: }
fp@1779: 
fp@1779: /****************************************************************************/
fp@1779: 
fp@1787: static ec_tty_operations_t el60xx_tty_ops = {
fp@1787:     .cflag_changed = el60xx_cflag_changed,
fp@1787: };
fp@1787: 
fp@1787: /****************************************************************************/
fp@1787: 
fp@1784: int el60xx_port_init(el60xx_port_t *port, ec_slave_config_t *sc,
fp@1785:         ec_domain_t *domain, unsigned int slot_offset, const char *name)
fp@1784: {
fp@1784:     int ret = 0;
fp@1784: 
fp@1785:     strncpy(port->name, name, EL6002_PORT_NAME_SIZE);
fp@1785: 
fp@1787:     port->tty = ectty_create(&el60xx_tty_ops, port);
fp@1784:     if (IS_ERR(port->tty)) {
fp@1785:         printk(KERN_ERR PFX "Failed to create tty for %s.\n",
fp@1785:                 port->name);
fp@1784:         ret = PTR_ERR(port->tty);
fp@1784:         goto out_return;
fp@1784:     }
fp@1784: 
fp@1784:     port->max_tx_data_size = 22;
fp@1784:     port->max_rx_data_size = 22;
fp@1784:     port->tx_data = NULL;
fp@1784:     port->tx_data_size = 0;
fp@1784:     port->state = SER_REQUEST_INIT;
fp@1784:     port->tx_request_toggle = 0;
fp@1784:     port->rx_accepted_toggle = 0;
fp@1784:     port->control = 0x0000;
fp@1784:     port->off_ctrl = 0;
fp@1784:     port->off_tx = 0;
fp@1784:     port->off_status = 0;
fp@1784:     port->off_rx = 0;
fp@1784:     port->requested_rtscts = 0x00; // no hardware handshake
fp@1784:     port->current_rtscts = 0xff;
fp@1784:     port->requested_baud_rate = 6; // 9600
fp@1784:     port->current_baud_rate = 0;
fp@1784:     port->requested_data_frame = 0x03; // 8N1
fp@1784:     port->current_data_frame = 0x00;
fp@1784:     port->config_error = 0;
fp@1784: 
fp@1784:     if (!(port->rtscts_sdo = ecrt_slave_config_create_sdo_request(sc,
fp@1784:                     0x8000 + slot_offset, 0x01, 1))) {
fp@1785:         printk(KERN_ERR PFX "Failed to create SDO request for %s.\n",
fp@1785:                 port->name);
fp@1784:         ret = -ENOMEM;
fp@1784:         goto out_free_tty;
fp@1784:     }
fp@1784: 
fp@1784:     if (!(port->baud_sdo = ecrt_slave_config_create_sdo_request(sc,
fp@1784:                     0x8000 + slot_offset, 0x11, 1))) {
fp@1785:         printk(KERN_ERR PFX "Failed to create SDO request for %s.\n",
fp@1785:                 port->name);
fp@1784:         ret = -ENOMEM;
fp@1784:         goto out_free_tty;
fp@1784:     }
fp@1784: 
fp@1784:     if (!(port->frame_sdo = ecrt_slave_config_create_sdo_request(sc,
fp@1784:                     0x8000 + slot_offset, 0x15, 1))) {
fp@1785:         printk(KERN_ERR PFX "Failed to create SDO request for %s\n",
fp@1785:                 port->name);
fp@1784:         ret = -ENOMEM;
fp@1784:         goto out_free_tty;
fp@1784:     }
fp@1784: 
fp@1784:     ret = ecrt_slave_config_reg_pdo_entry(
fp@1784:             sc, 0x7001 + slot_offset, 0x01, domain, NULL);
fp@1784:     if (ret < 0) {
fp@1785:         printk(KERN_ERR PFX "Failed to register PDO entry of %s\n",
fp@1785:                 port->name);
fp@1784:         goto out_free_tty;
fp@1784:     }
fp@1784:     port->off_ctrl = ret;
fp@1784: 
fp@1784:     ret = ecrt_slave_config_reg_pdo_entry(
fp@1784:             sc, 0x7000 + slot_offset, 0x11, domain, NULL);
fp@1784:     if (ret < 0) {
fp@1785:         printk(KERN_ERR PFX "Failed to register PDO entry of %s.\n",
fp@1785:                 port->name);
fp@1784:         goto out_free_tty;
fp@1784:     }
fp@1784:     port->off_tx = ret;
fp@1784: 
fp@1784:     ret = ecrt_slave_config_reg_pdo_entry(
fp@1784:             sc, 0x6001 + slot_offset, 0x01, domain, NULL);
fp@1784:     if (ret < 0) {
fp@1785:         printk(KERN_ERR PFX "Failed to register PDO entry of %s.\n",
fp@1785:                 port->name);
fp@1784:         goto out_free_tty;
fp@1784:     }
fp@1784:     port->off_status = ret;
fp@1784: 
fp@1784:     ret = ecrt_slave_config_reg_pdo_entry(
fp@1784:             sc, 0x6000 + slot_offset, 0x11, domain, NULL);
fp@1784:     if (ret < 0) {
fp@1785:         printk(KERN_ERR PFX "Failed to register PDO entry of %s.\n",
fp@1785:                 port->name);
fp@1784:         goto out_free_tty;
fp@1784:     }
fp@1784:     port->off_rx = ret;
fp@1784: 
fp@1784:     if (port->max_tx_data_size > 0) {
fp@1784:         port->tx_data = kmalloc(port->max_tx_data_size, GFP_KERNEL);
fp@1784:         if (port->tx_data == NULL) {
fp@1785:             printk(KERN_ERR PFX "Failed to allocate %u bytes of TX"
fp@1785:                     " memory for %s.\n", port->max_tx_data_size, port->name);
fp@1784:             ret = -ENOMEM;
fp@1784:             goto out_free_tty;
fp@1784:         }
fp@1784:     }
fp@1784: 
fp@1784:     return 0;
fp@1784: 
fp@1784: out_free_tty:
fp@1784:     ectty_free(port->tty);
fp@1784: out_return:
fp@1784:     return ret;
fp@1784: }
fp@1784: 
fp@1784: /****************************************************************************/
fp@1784: 
fp@1784: void el60xx_port_clear(el60xx_port_t *port)
fp@1784: {
fp@1784:     ectty_free(port->tty);
fp@1784:     if (port->tx_data) {
fp@1784:         kfree(port->tx_data);
fp@1784:     }
fp@1784: }
fp@1784: 
fp@1784: /****************************************************************************/
fp@1784: 
fp@1784: void el60xx_port_run(el60xx_port_t *port, u8 *pd)
fp@1784: {
fp@1784:     u16 status = EC_READ_U16(pd + port->off_status);
fp@1784:     u8 *rx_data = pd + port->off_rx;
fp@1784:     uint8_t tx_accepted_toggle, rx_request_toggle;
fp@1784: 
fp@1784:     switch (port->state) {
fp@1784:         case SER_READY:
fp@1784: 
fp@1784:             /* Check, if hardware handshaking has to be configured. */
fp@1784:             if (!port->config_error &&
fp@1784:                     port->requested_rtscts != port->current_rtscts) {
fp@1784:                 EC_WRITE_U8(ecrt_sdo_request_data(port->rtscts_sdo),
fp@1784:                         port->requested_rtscts);
fp@1784:                 ecrt_sdo_request_write(port->rtscts_sdo);
fp@1784:                 port->state = SER_SET_RTSCTS;
fp@1784:                 break;
fp@1784:             }
fp@1784: 
fp@1784:             /* Check, if the baud rate has to be configured. */
fp@1784:             if (!port->config_error &&
fp@1784:                     port->requested_baud_rate != port->current_baud_rate) {
fp@1784:                 EC_WRITE_U8(ecrt_sdo_request_data(port->baud_sdo),
fp@1784:                         port->requested_baud_rate);
fp@1784:                 ecrt_sdo_request_write(port->baud_sdo);
fp@1784:                 port->state = SER_SET_BAUD_RATE;
fp@1784:                 break;
fp@1784:             }
fp@1784: 
fp@1784:             /* Check, if the data frame has to be configured. */
fp@1784:             if (!port->config_error &&
fp@1784:                     port->requested_data_frame != port->current_data_frame) {
fp@1784:                 EC_WRITE_U8(ecrt_sdo_request_data(port->frame_sdo),
fp@1784:                         port->requested_data_frame);
fp@1784:                 ecrt_sdo_request_write(port->frame_sdo);
fp@1784:                 port->state = SER_SET_DATA_FRAME;
fp@1784:                 break;
fp@1784:             }
fp@1784: 
fp@1784:             /* Send data */
fp@1784:             
fp@1784:             tx_accepted_toggle = status & 0x0001;
fp@1784:             if (tx_accepted_toggle != port->tx_accepted_toggle) { // ready
fp@1784:                 port->tx_data_size =
fp@1784:                     ectty_tx_data(port->tty, port->tx_data, port->max_tx_data_size);
fp@1784:                 if (port->tx_data_size) {
fp@1784: #if DEBUG
fp@1785:                     printk(KERN_INFO PFX "%s: Sending %u bytes.\n",
fp@1785:                             port->name, port->tx_data_size);
fp@1784: #endif
fp@1784:                     port->tx_request_toggle = !port->tx_request_toggle;
fp@1784:                     port->tx_accepted_toggle = tx_accepted_toggle;
fp@1784:                 }
fp@1784:             }
fp@1784: 
fp@1784:             /* Receive data */
fp@1784: 
fp@1784:             rx_request_toggle = status & 0x0002;
fp@1784:             if (rx_request_toggle != port->rx_request_toggle) {
fp@1784:                 uint8_t rx_data_size = status >> 8;
fp@1784:                 port->rx_request_toggle = rx_request_toggle;
fp@1784: #if DEBUG
fp@1785:                 printk(KERN_INFO PFX "%s: Received %u bytes.\n",
fp@1785:                         port->name, rx_data_size);
fp@1784: #endif
fp@1784:                 ectty_rx_data(port->tty, rx_data, rx_data_size);
fp@1784:                 port->rx_accepted_toggle = !port->rx_accepted_toggle;
fp@1784:             }
fp@1784: 
fp@1784:             port->control =
fp@1784:                 port->tx_request_toggle |
fp@1784:                 port->rx_accepted_toggle << 1 |
fp@1784:                 port->tx_data_size << 8;
fp@1784:             break;
fp@1784: 
fp@1784:         case SER_REQUEST_INIT:
fp@1784:             if (status & (1 << 2)) {
fp@1784:                 port->control = 0x0000;
fp@1784:                 port->state = SER_WAIT_FOR_INIT_RESPONSE;
fp@1784:             } else {
fp@1784:                 port->control = 1 << 2; // CW.2, request initialization
fp@1784:             }
fp@1784:             break;
fp@1784: 
fp@1784:         case SER_WAIT_FOR_INIT_RESPONSE:
fp@1784:             if (!(status & (1 << 2))) {
fp@1785:                 printk(KERN_INFO PFX "%s: Init successful.\n", port->name);
fp@1784:                 port->tx_accepted_toggle = 1;
fp@1784:                 port->control = 0x0000;
fp@1784:                 port->state = SER_READY;
fp@1784:             }
fp@1784:             break;
fp@1784: 
fp@1784:         case SER_SET_RTSCTS:
fp@1784:             switch (ecrt_sdo_request_state(port->rtscts_sdo)) {
fp@1784:                 case EC_REQUEST_SUCCESS:
fp@1785:                     printk(KERN_INFO PFX "%s: Accepted RTS/CTS.\n",
fp@1785:                             port->name);
fp@1784:                     port->current_rtscts = port->requested_rtscts;
fp@1784:                     port->state = SER_REQUEST_INIT;
fp@1784:                     break;
fp@1784:                 case EC_REQUEST_ERROR:
fp@1785:                     printk(KERN_ERR PFX "Failed to set RTS/CTS on %s!\n",
fp@1785:                             port->name);
fp@1784:                     port->state = SER_REQUEST_INIT;
fp@1784:                     port->config_error = 1;
fp@1784:                     break;
fp@1784:                 default:
fp@1784:                     break;
fp@1784:             }
fp@1784:             break;
fp@1784: 
fp@1784:         case SER_SET_BAUD_RATE:
fp@1784:             switch (ecrt_sdo_request_state(port->baud_sdo)) {
fp@1784:                 case EC_REQUEST_SUCCESS:
fp@1785:                     printk(KERN_INFO PFX "%s: Accepted baud rate.\n",
fp@1785:                             port->name);
fp@1784:                     port->current_baud_rate = port->requested_baud_rate;
fp@1784:                     port->state = SER_REQUEST_INIT;
fp@1784:                     break;
fp@1784:                 case EC_REQUEST_ERROR:
fp@1785:                     printk(KERN_ERR PFX "Failed to set baud rate on %s!\n",
fp@1785:                             port->name);
fp@1784:                     port->state = SER_REQUEST_INIT;
fp@1784:                     port->config_error = 1;
fp@1784:                     break;
fp@1784:                 default:
fp@1784:                     break;
fp@1784:             }
fp@1784:             break;
fp@1784: 
fp@1784:         case SER_SET_DATA_FRAME:
fp@1784:             switch (ecrt_sdo_request_state(port->frame_sdo)) {
fp@1784:                 case EC_REQUEST_SUCCESS:
fp@1785:                     printk(KERN_INFO PFX "%s: Accepted data frame.\n",
fp@1785:                             port->name);
fp@1784:                     port->current_data_frame = port->requested_data_frame;
fp@1784:                     port->state = SER_REQUEST_INIT;
fp@1784:                     break;
fp@1784:                 case EC_REQUEST_ERROR:
fp@1785:                     printk(KERN_ERR PFX "Failed to set data frame on %s!\n",
fp@1785:                             port->name);
fp@1784:                     port->state = SER_REQUEST_INIT;
fp@1784:                     port->config_error = 1;
fp@1784:                     break;
fp@1784:                 default:
fp@1784:                     break;
fp@1784:             }
fp@1784:             break;
fp@1784:     }
fp@1784: 
fp@1784:     EC_WRITE_U16(pd + port->off_ctrl, port->control);
fp@1784:     memcpy(pd + port->off_tx, port->tx_data, port->tx_data_size);
fp@1784: }
fp@1784: 
fp@1784: /****************************************************************************/
fp@1784: 
fp@1784: int el6002_init(el6002_t *el6002, ec_master_t *master, u16 position,
fp@1783:         ec_domain_t *domain, u32 vendor, u32 product)
fp@1613: {
fp@1784:     int ret = 0, i;
fp@1784: 
fp@1784:     if (!(el6002->sc = ecrt_master_slave_config(
fp@1783:                     master, 0, position, vendor, product))) {
fp@1785:         printk(KERN_ERR PFX "EL6002(%u): Failed to create"
fp@1785:                 " slave configuration.\n", position);
fp@1613:         ret = -EBUSY;
fp@1784:         goto out_return;
fp@1784:     }
fp@1784: 
fp@1784:     if (ecrt_slave_config_pdos(el6002->sc, EC_END, el6002_syncs)) {
fp@1785:         printk(KERN_ERR PFX "EL6002(%u): Failed to configure PDOs.\n",
fp@1785:                 position);
fp@1613:         ret = -ENOMEM;
fp@1784:         goto out_return;
fp@1784:     }
fp@1784: 
fp@1784:     for (i = 0; i < EL6002_PORTS; i++) {
fp@1785:         char name[EL6002_PORT_NAME_SIZE];
fp@1785:         snprintf(name, EL6002_PORT_NAME_SIZE, "EL6002(%u) X%u",
fp@1785:                 position, i + 1);
fp@1785:         if (el60xx_port_init(el6002->port + i, el6002->sc, domain, i * 0x10,
fp@1785:                     name)) {
fp@1785:             printk(KERN_ERR PFX "EL6002(%u): Failed to init port X%u.\n",
fp@1785:                     position, i);
fp@1784:             goto out_ports;
fp@1613:         }
fp@1613:     }
fp@1613: 
fp@1613:     return 0;
fp@1613: 
fp@1784: out_ports:
fp@1788:     for (i--; i >= 0; i--) {
fp@1784:         el60xx_port_clear(el6002->port + i);
fp@1784:     }
fp@1613: out_return:
fp@1613:     return ret;
fp@1613: }
fp@1613: 
fp@1613: /****************************************************************************/
fp@1613: 
fp@1784: void el6002_clear(el6002_t *el6002)
fp@1784: {
fp@1784:     int i;
fp@1784: 
fp@1784:     for (i = 0; i < EL6002_PORTS; i++) {
fp@1784:         el60xx_port_clear(el6002->port + i);
fp@1613:     }
fp@1613: }
fp@1613: 
fp@1613: /****************************************************************************/
fp@1613: 
fp@1784: void el6002_run(el6002_t *el6002, u8 *pd)
fp@1784: {
fp@1784:     int i;
fp@1784: 
fp@1784:     for (i = 0; i < EL6002_PORTS; i++) {
fp@1784:         el60xx_port_run(el6002->port + i, pd);
fp@1784:     }
fp@1613: }
fp@1613: 
fp@1613: /*****************************************************************************/
fp@1613: 
fp@1613: void run_serial_devices(u8 *pd)
fp@1613: {
fp@1784:     el6002_t *el6002;
fp@1784: 
fp@1784:     list_for_each_entry(el6002, &handlers, list) {
fp@1784:         el6002_run(el6002, pd);
fp@1613:     }
fp@1613: }
fp@1613: 
fp@1613: /*****************************************************************************/
fp@1613: 
fp@1783: int create_el6002_handler(ec_master_t *master, ec_domain_t *domain,
fp@1783:         u16 position, u32 vendor, u32 product)
fp@1783: {
fp@1784:     el6002_t *el6002;
fp@1783:     int ret;
fp@1783: 
fp@1783:     printk(KERN_INFO PFX "Creating handler for EL6002 at position %u\n",
fp@1783:             position);
fp@1783: 
fp@1784:     el6002 = kmalloc(sizeof(*el6002), GFP_KERNEL);
fp@1784:     if (!el6002) {
fp@1783:         printk(KERN_ERR PFX "Failed to allocate serial device object.\n");
fp@1783:         return -ENOMEM;
fp@1783:     }
fp@1783: 
fp@1784:     ret = el6002_init(el6002, master, position, domain, vendor, product);
fp@1783:     if (ret) {
fp@1784:         kfree(el6002);
fp@1783:         return ret;
fp@1783:     }
fp@1783: 
fp@1784:     list_add_tail(&el6002->list, &handlers);
fp@1783:     return 0;
fp@1783: }
fp@1783: 
fp@1783: /*****************************************************************************/
fp@1783: 
fp@1613: int create_serial_devices(ec_master_t *master, ec_domain_t *domain)
fp@1613: {
fp@1613:     int i, ret;
fp@1613:     ec_master_info_t master_info;
fp@1613:     ec_slave_info_t slave_info;
fp@1615:     el6002_t *ser, *next;
fp@1615: 
fp@1613:     printk(KERN_INFO PFX "Registering serial devices...\n");
fp@1613: 
fp@1613:     ret = ecrt_master(master, &master_info);
fp@1613:     if (ret) {
fp@1613:         printk(KERN_ERR PFX "Failed to obtain master information.\n");
fp@1615:         goto out_return;
fp@1613:     }
fp@1613: 
fp@1613:     for (i = 0; i < master_info.slave_count; i++) {
fp@1613:         ret = ecrt_master_get_slave(master, i, &slave_info);
fp@1613:         if (ret) {
fp@1615:             printk(KERN_ERR PFX "Failed to obtain slave information.\n");
fp@1615:             goto out_free_handlers;
fp@1613:         }
fp@1613: 
fp@1783:         if (slave_info.vendor_id == VendorIdBeckhoff
fp@1783:                 && slave_info.product_code == ProductCodeBeckhoffEL6002) {
fp@1783:             if (create_el6002_handler(master, domain, i,
fp@1783:                     slave_info.vendor_id, slave_info.product_code)) {
fp@1783:                 goto out_free_handlers;
fp@1783:             }
fp@1613:         }
fp@1613: 
fp@1783:         if (slave_info.vendor_id == VendorIdIds
fp@1783:                 && slave_info.product_code == ProductCodeIdsCSI71A) {
fp@1783:             if (create_el6002_handler(master, domain, i,
fp@1783:                     slave_info.vendor_id, slave_info.product_code)) {
fp@1783:                 goto out_free_handlers;
fp@1783:             }
fp@1613:         }
fp@1783:     }
fp@1613: 
fp@1785:     printk(KERN_INFO PFX "Finished registering serial devices.\n");
fp@1613:     return 0;
fp@1615: 
fp@1615: out_free_handlers:
fp@1615:     list_for_each_entry_safe(ser, next, &handlers, list) {
fp@1615:         list_del(&ser->list);
fp@1613:         el6002_clear(ser);
fp@1613:         kfree(ser);
fp@1613:     }
fp@1615: out_return:
fp@1615:     return ret;
fp@1615: }
fp@1615: 
fp@1615: /*****************************************************************************/
fp@1615: 
fp@1615: void free_serial_devices(void)
fp@1615: {
fp@1615:     el6002_t *ser, *next;
fp@1615: 
fp@1615:     printk(KERN_INFO PFX "Cleaning up serial devices...\n");
fp@1615: 
fp@1615:     list_for_each_entry_safe(ser, next, &handlers, list) {
fp@1615:         list_del(&ser->list);
fp@1615:         el6002_clear(ser);
fp@1615:         kfree(ser);
fp@1615:     }
fp@1613: 
fp@1613:     printk(KERN_INFO PFX "Finished cleaning up serial devices.\n");
fp@1613: }
fp@1613: 
fp@1613: /*****************************************************************************/