--- 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 \
--- 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 \
--- 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
--- /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 <linux/module.h>
+#include <linux/err.h>
+
+#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");
+}
+
+/*****************************************************************************/
--- /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 *);
+
+/*****************************************************************************/
--- 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");
}