diff -r c6779ebcda88 -r 070b4b420ab1 examples/tty/tty.c --- a/examples/tty/tty.c Fri Jan 08 11:40:27 2010 +0100 +++ b/examples/tty/tty.c Fri Jan 08 13:10:12 2010 +0100 @@ -40,7 +40,8 @@ #endif #include "../../include/ecrt.h" // EtherCAT realtime interface -#include "../../include/ectty.h" // EtherCAT TTY interface + +#include "serial.h" /*****************************************************************************/ @@ -70,264 +71,11 @@ static uint8_t *domain1_pd; // process data memory #define BusCouplerPos 0, 0 -#define SerialPos 0, 1 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 -#define Beckhoff_EL6002 0x00000002, 0x17723052 - -// offsets for PDO entries -static unsigned int off_ctrl; -static unsigned int off_tx; -static unsigned int off_status; -static unsigned int off_rx; - -const static ec_pdo_entry_reg_t domain1_regs[] = { - {SerialPos, Beckhoff_EL6002, 0x7001, 0x01, &off_ctrl}, - {SerialPos, Beckhoff_EL6002, 0x7000, 0x11, &off_tx}, - {SerialPos, Beckhoff_EL6002, 0x6001, 0x01, &off_status}, - {SerialPos, Beckhoff_EL6002, 0x6000, 0x11, &off_rx}, - {} -}; static unsigned int counter = 0; -typedef enum { - SER_REQUEST_INIT, - SER_WAIT_FOR_INIT_RESPONSE, - SER_READY -} serial_state_t; - -typedef struct { - size_t max_tx_data_size; - size_t max_rx_data_size; - - uint8_t *tx_data; - uint8_t tx_data_size; - - serial_state_t state; - - uint8_t tx_request_toggle; - uint8_t tx_accepted_toggle; - - uint8_t rx_request_toggle; - uint8_t rx_accepted_toggle; - - uint16_t control; -} serial_device_t; - -static serial_device_t *ser = NULL; -static ec_tty_t *tty = NULL; - -/*****************************************************************************/ - -/* Slave 1, "EL6002" - * Vendor ID: 0x00000002 - * Product code: 0x17723052 - * Revision number: 0x00100000 - */ - -ec_pdo_entry_info_t slave_1_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 slave_1_pdos[] = { - {0x1604, 23, slave_1_pdo_entries + 0}, /* COM RxPDO-Map Outputs Ch.1 */ - {0x1605, 23, slave_1_pdo_entries + 23}, /* COM RxPDO-Map Outputs Ch.2 */ - {0x1a04, 23, slave_1_pdo_entries + 46}, /* COM TxPDO-Map Inputs Ch.1 */ - {0x1a05, 23, slave_1_pdo_entries + 69}, /* COM TxPDO-Map Inputs Ch.2 */ -}; - -ec_sync_info_t slave_1_syncs[] = { - {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, - {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, - {2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_DISABLE}, - {3, EC_DIR_INPUT, 2, slave_1_pdos + 2, EC_WD_DISABLE}, - {0xff} -}; - -/****************************************************************************/ - -int serial_init(serial_device_t *ser, size_t max_tx, size_t max_rx) -{ - ser->max_tx_data_size = max_tx; - ser->max_rx_data_size = max_rx; - 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; - - if (max_tx > 0) { - ser->tx_data = kmalloc(max_tx, GFP_KERNEL); - if (ser->tx_data == NULL) { - return -ENOMEM; - } - } - - return 0; -} - -/****************************************************************************/ - -void serial_clear(serial_device_t *ser) -{ - if (ser->tx_data) { - kfree(ser->tx_data); - } -} - -/****************************************************************************/ - -void serial_run(serial_device_t *ser, uint16_t status, uint8_t *rx_data) -{ - 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(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(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; - } - -} - /*****************************************************************************/ void check_domain1_state(void) @@ -388,9 +136,7 @@ check_master_state(); } - serial_run(ser, EC_READ_U16(domain1_pd + off_status), domain1_pd + off_rx); - EC_WRITE_U16(domain1_pd + off_ctrl, ser->control); - memcpy(domain1_pd + off_tx, ser->tx_data, 22); + run_serial_devices(domain1_pd); // send process data down(&master_sem); @@ -432,31 +178,11 @@ printk(KERN_INFO PFX "Starting...\n"); - ser = kmalloc(sizeof(*ser), GFP_KERNEL); - if (!ser) { - printk(KERN_ERR PFX "Failed to allocate serial device object.\n"); - ret = -ENOMEM; - goto out_return; - } - - ret = serial_init(ser, 22, 22); - if (ret) { - printk(KERN_ERR PFX "Failed to init serial device object.\n"); - goto out_free_serial; - } - - tty = ectty_create(); - if (IS_ERR(tty)) { - printk(KERN_ERR PFX "Failed to create tty.\n"); - ret = PTR_ERR(tty); - goto out_serial; - } - master = ecrt_request_master(0); if (!master) { + printk(KERN_ERR PFX "Requesting master 0 failed.\n"); ret = -EBUSY; - printk(KERN_ERR PFX "Requesting master 0 failed.\n"); - goto out_tty; + goto out_return; } sema_init(&master_sem, 1); @@ -470,30 +196,18 @@ // Create configuration for bus coupler sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); - if (!sc) - return -1; - - if (!(sc = ecrt_master_slave_config( - master, SerialPos, Beckhoff_EL6002))) { - printk(KERN_ERR PFX "Failed to get slave configuration.\n"); - return -1; - } - - printk("Configuring PDOs...\n"); - if (ecrt_slave_config_pdos(sc, EC_END, slave_1_syncs)) { - printk(KERN_ERR PFX "Failed to configure PDOs.\n"); - return -1; - } - - if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { - printk(KERN_ERR PFX "PDO entry registration failed!\n"); - return -1; - } + if (!sc) { + printk(KERN_ERR PFX "Failed to create slave config.\n"); + ret = -ENOMEM; + goto out_release_master; + } + + create_serial_devices(master, domain1); printk(KERN_INFO PFX "Activating master...\n"); if (ecrt_master_activate(master)) { printk(KERN_ERR PFX "Failed to activate master!\n"); - goto out_release_master; + goto out_free_serial; } // Get internal process data for domain @@ -508,15 +222,11 @@ printk(KERN_INFO PFX "Started.\n"); return 0; +out_free_serial: + free_serial_devices(); out_release_master: printk(KERN_ERR PFX "Releasing master...\n"); ecrt_release_master(master); -out_tty: - ectty_free(tty); -out_serial: - serial_clear(ser); -out_free_serial: - kfree(ser); out_return: printk(KERN_ERR PFX "Failed to load. Aborting.\n"); return ret; @@ -530,13 +240,11 @@ del_timer_sync(&timer); + free_serial_devices(); + printk(KERN_INFO PFX "Releasing master...\n"); ecrt_release_master(master); - ectty_free(tty); - serial_clear(ser); - kfree(ser); - printk(KERN_INFO PFX "Unloading.\n"); }