# HG changeset patch # User Florian Pose # Date 1262952612 -3600 # Node ID 070b4b420ab11f85575376b325cc96dc36280718 # Parent c6779ebcda88f861f9889676752ed19c2121ba49 TTY: Sourced serial device functions out into serial.c/serial.h. diff -r c6779ebcda88 -r 070b4b420ab1 examples/Makefile.am --- a/examples/Makefile.am Fri Jan 08 11:40:27 2010 +0100 +++ b/examples/Makefile.am Fri Jan 08 13:10:12 2010 +0100 @@ -27,12 +27,19 @@ # #------------------------------------------------------------------------------ +SUBDIRS = + if ENABLE_USERLIB -SUBDIRS = \ +SUBDIRS += \ dc_user \ user endif +if ENABLE_TTY +SUBDIRS += \ + tty +endif + DIST_SUBDIRS = \ dc_rtai \ dc_user \ diff -r c6779ebcda88 -r 070b4b420ab1 examples/tty/Kbuild.in --- a/examples/tty/Kbuild.in Fri Jan 08 11:40:27 2010 +0100 +++ b/examples/tty/Kbuild.in Fri Jan 08 13:10:12 2010 +0100 @@ -33,7 +33,11 @@ obj-m := ec_tty_example.o -ec_tty_example-objs := tty.o +ec_tty_example-objs := \ + serial.o \ + tty.o + +CFLAGS_tty.o := -I$(src) KBUILD_EXTRA_SYMBOLS := \ @abs_top_builddir@/Module.symvers \ diff -r c6779ebcda88 -r 070b4b420ab1 examples/tty/Makefile.am --- a/examples/tty/Makefile.am Fri Jan 08 11:40:27 2010 +0100 +++ b/examples/tty/Makefile.am Fri Jan 08 13:10:12 2010 +0100 @@ -31,9 +31,12 @@ # #------------------------------------------------------------------------------ +noinst_HEADERS = \ + serial.h \ + tty.c + EXTRA_DIST = \ - Kbuild.in \ - tty.c + Kbuild.in BUILT_SOURCES = \ Kbuild diff -r c6779ebcda88 -r 070b4b420ab1 examples/tty/serial.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/tty/serial.c Fri Jan 08 13:10:12 2010 +0100 @@ -0,0 +1,438 @@ +/****************************************************************************** + * + * $Id$ + * + * 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 +#include + +#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 { + 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; + +static el6002_t *ser = NULL; + +/*****************************************************************************/ + +/* 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) +{ + if (ser) { + 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; + + 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"); + return ret; + } + + 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 master information.\n"); + return ret; + } + + 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"); + return -ENOMEM; + } + + ret = el6002_init(ser, master, i, domain); + if (ret) { + printk(KERN_ERR PFX "Failed to init serial device object.\n"); + kfree(ser); + ser = NULL; + return ret; + } + + break; // FIXME + } + + + printk(KERN_INFO PFX "Finished.\n"); + return 0; +} + +/*****************************************************************************/ + +void cleanup_serial_devices(void) +{ + printk(KERN_INFO PFX "Cleaning up serial devices...\n"); + + if (ser) { + el6002_clear(ser); + kfree(ser); + } + + printk(KERN_INFO PFX "Finished cleaning up serial devices.\n"); +} + +/*****************************************************************************/ diff -r c6779ebcda88 -r 070b4b420ab1 examples/tty/serial.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/tty/serial.h Fri Jan 08 13:10:12 2010 +0100 @@ -0,0 +1,34 @@ +/****************************************************************************** + * + * $Id$ + * + * 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. + * + *****************************************************************************/ + +int create_serial_devices(ec_master_t *, ec_domain_t *); +void free_serial_devices(void); +void run_serial_devices(u8 *); + +/*****************************************************************************/ 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"); }