--- a/examples/tty/serial.c Thu Jan 21 11:10:22 2010 +0100
+++ b/examples/tty/serial.c Sun Jan 31 14:50:37 2010 +0100
@@ -29,6 +29,7 @@
#include <linux/module.h>
#include <linux/err.h>
+#include <linux/termios.h>
#include "../../include/ecrt.h" // EtherCAT realtime interface
#include "../../include/ectty.h" // EtherCAT TTY interface
@@ -38,23 +39,32 @@
// Optional features
#define PFX "ec_tty_example: "
+#define DEBUG 0
+
/*****************************************************************************/
#define VendorIdBeckhoff 0x00000002
#define ProductCodeBeckhoffEL6002 0x17723052
-#define Beckhoff_EL6002 VendorIdBeckhoff, ProductCodeBeckhoffEL6002
+
+#define VendorIdIds 0x000012ad
+#define ProductCodeIdsCSI71A 0x17723052
+
+/*****************************************************************************/
typedef enum {
SER_REQUEST_INIT,
SER_WAIT_FOR_INIT_RESPONSE,
- SER_READY
-} serial_state_t;
+ SER_READY,
+ SER_SET_RTSCTS,
+ SER_SET_BAUD_RATE,
+ SER_SET_DATA_FRAME,
+} el60xx_port_state;
+
+#define EL6002_PORT_NAME_SIZE 16
typedef struct {
- struct list_head list;
-
ec_tty_t *tty;
- ec_slave_config_t *sc;
+ char name[EL6002_PORT_NAME_SIZE];
size_t max_tx_data_size;
size_t max_rx_data_size;
@@ -62,7 +72,7 @@
u8 *tx_data;
u8 tx_data_size;
- serial_state_t state;
+ el60xx_port_state state;
u8 tx_request_toggle;
u8 tx_accepted_toggle;
@@ -76,6 +86,29 @@
u32 off_tx;
u32 off_status;
u32 off_rx;
+
+ ec_sdo_request_t *rtscts_sdo;
+ u8 requested_rtscts;
+ u8 current_rtscts;
+
+ ec_sdo_request_t *baud_sdo;
+ u8 requested_baud_rate;
+ u8 current_baud_rate;
+
+ ec_sdo_request_t *frame_sdo;
+ u8 requested_data_frame;
+ u8 current_data_frame;
+
+ unsigned int config_error;
+
+} el60xx_port_t;
+
+#define EL6002_PORTS 2
+
+typedef struct {
+ struct list_head list;
+ ec_slave_config_t *sc;
+ el60xx_port_t port[EL6002_PORTS];
} el6002_t;
LIST_HEAD(handlers);
@@ -198,82 +231,257 @@
{0xff}
};
+typedef enum {
+ PAR_NONE,
+ PAR_ODD,
+ PAR_EVEN
+} parity_t;
+
+typedef struct {
+ u8 value;
+ unsigned int data_bits;
+ parity_t parity;
+ unsigned int stop_bits;
+} el600x_data_frame_t;
+
+/** EL600x supported values for data frame SDO.
+ */
+el600x_data_frame_t el600x_data_frame[] = {
+ {0x01, 7, PAR_EVEN, 1},
+ {0x09, 7, PAR_EVEN, 2},
+ {0x02, 7, PAR_ODD, 1},
+ {0x0a, 7, PAR_ODD, 2},
+ {0x03, 8, PAR_NONE, 1},
+ {0x0b, 8, PAR_NONE, 2},
+ {0x04, 8, PAR_EVEN, 1},
+ {0x0c, 8, PAR_EVEN, 2},
+ {0x05, 8, PAR_ODD, 1},
+ {0x0d, 8, PAR_ODD, 2},
+};
+
+typedef struct {
+ u8 value;
+ unsigned int baud;
+ tcflag_t cbaud;
+} el600x_baud_rate_t;
+
+/** EL600x supported values for baud rate SDO.
+ */
+el600x_baud_rate_t el600x_baud_rate[] = {
+ {1, 300, B300},
+ {2, 600, B600},
+ {3, 1200, B1200},
+ {4, 2400, B2400},
+ {5, 4800, B4800},
+ {6, 9600, B9600},
+ {7, 19200, B19200},
+ {8, 38400, B38400},
+ {9, 57600, B57600},
+ {10, 115200, B115200}
+};
+
/****************************************************************************/
-int el6002_init(el6002_t *ser, ec_master_t *master, u16 position,
- ec_domain_t *domain)
+int el60xx_cflag_changed(void *data, tcflag_t cflag)
+{
+ el60xx_port_t *port = (el60xx_port_t *) data;
+ unsigned int data_bits, stop_bits;
+ tcflag_t cbaud, rtscts;
+ parity_t par;
+ unsigned int i;
+ el600x_baud_rate_t *b_to_use = NULL;
+ el600x_data_frame_t *df_to_use = NULL;
+
+#if DEBUG
+ printk(KERN_INFO PFX "%s(%s, cflag=%x).\n", __func__, port->name, cflag);
+#endif
+
+ rtscts = cflag & CRTSCTS;
+ printk(KERN_INFO PFX "%s: Requested RTS/CTS: %s.\n",
+ port->name, rtscts ? "yes" : "no");
+
+ cbaud = cflag & CBAUD;
+
+ for (i = 0; i < sizeof(el600x_baud_rate) / sizeof(el600x_baud_rate_t);
+ i++) {
+ el600x_baud_rate_t *b = el600x_baud_rate + i;
+ if (b->cbaud == cbaud) {
+ b_to_use = b;
+ break;
+ }
+ }
+
+ if (b_to_use) {
+ printk(KERN_INFO PFX "%s: Requested baud rate: %u.\n",
+ port->name, b_to_use->baud);
+ } else {
+ printk(KERN_ERR PFX "Error: %s does not support"
+ " baud rate index %x.\n", port->name, cbaud);
+ return -EINVAL;
+ }
+
+ switch (cflag & CSIZE) {
+ case CS5:
+ data_bits = 5;
+ break;
+ case CS6:
+ data_bits = 6;
+ break;
+ case CS7:
+ data_bits = 7;
+ break;
+ case CS8:
+ data_bits = 8;
+ break;
+ default: /* CS5 or CS6 */
+ data_bits = 0;
+ }
+
+ if (cflag & PARENB) {
+ par = (cflag & PARODD) ? PAR_ODD : PAR_EVEN;
+ } else {
+ par = PAR_NONE;
+ }
+
+ stop_bits = (cflag & CSTOPB) ? 2 : 1;
+
+ printk(KERN_INFO PFX "%s: Requested Data frame: %u%c%u.\n",
+ port->name, data_bits,
+ (par == PAR_NONE ? 'N' : (par == PAR_ODD ? 'O' : 'E')),
+ stop_bits);
+
+ for (i = 0; i < sizeof(el600x_data_frame) / sizeof(el600x_data_frame_t);
+ i++) {
+ el600x_data_frame_t *df = el600x_data_frame + i;
+ if (df->data_bits == data_bits &&
+ df->parity == par &&
+ df->stop_bits == stop_bits) {
+ df_to_use = df;
+ break;
+ }
+ }
+
+ if (!df_to_use) {
+ printk(KERN_ERR PFX "Error: %s does not support data frame type.\n",
+ port->name);
+ return -EINVAL;
+ }
+
+ port->requested_rtscts = rtscts != 0;
+ port->requested_baud_rate = b_to_use->value;
+ port->requested_data_frame = df_to_use->value;
+ port->config_error = 0;
+ return 0;
+}
+
+/****************************************************************************/
+
+static ec_tty_operations_t el60xx_tty_ops = {
+ .cflag_changed = el60xx_cflag_changed,
+};
+
+/****************************************************************************/
+
+int el60xx_port_init(el60xx_port_t *port, ec_slave_config_t *sc,
+ ec_domain_t *domain, unsigned int slot_offset, const char *name)
{
int ret = 0;
- ser->tty = ectty_create();
- if (IS_ERR(ser->tty)) {
- printk(KERN_ERR PFX "Failed to create tty.\n");
- ret = PTR_ERR(ser->tty);
+ strncpy(port->name, name, EL6002_PORT_NAME_SIZE);
+
+ port->tty = ectty_create(&el60xx_tty_ops, port);
+ if (IS_ERR(port->tty)) {
+ printk(KERN_ERR PFX "Failed to create tty for %s.\n",
+ port->name);
+ ret = PTR_ERR(port->tty);
goto out_return;
}
- 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");
+ port->max_tx_data_size = 22;
+ port->max_rx_data_size = 22;
+ port->tx_data = NULL;
+ port->tx_data_size = 0;
+ port->state = SER_REQUEST_INIT;
+ port->tx_request_toggle = 0;
+ port->rx_accepted_toggle = 0;
+ port->control = 0x0000;
+ port->off_ctrl = 0;
+ port->off_tx = 0;
+ port->off_status = 0;
+ port->off_rx = 0;
+ port->requested_rtscts = 0x00; // no hardware handshake
+ port->current_rtscts = 0xff;
+ port->requested_baud_rate = 6; // 9600
+ port->current_baud_rate = 0;
+ port->requested_data_frame = 0x03; // 8N1
+ port->current_data_frame = 0x00;
+ port->config_error = 0;
+
+ if (!(port->rtscts_sdo = ecrt_slave_config_create_sdo_request(sc,
+ 0x8000 + slot_offset, 0x01, 1))) {
+ printk(KERN_ERR PFX "Failed to create SDO request for %s.\n",
+ port->name);
ret = -ENOMEM;
goto out_free_tty;
}
-
+
+ if (!(port->baud_sdo = ecrt_slave_config_create_sdo_request(sc,
+ 0x8000 + slot_offset, 0x11, 1))) {
+ printk(KERN_ERR PFX "Failed to create SDO request for %s.\n",
+ port->name);
+ ret = -ENOMEM;
+ goto out_free_tty;
+ }
+
+ if (!(port->frame_sdo = ecrt_slave_config_create_sdo_request(sc,
+ 0x8000 + slot_offset, 0x15, 1))) {
+ printk(KERN_ERR PFX "Failed to create SDO request for %s\n",
+ port->name);
+ ret = -ENOMEM;
+ goto out_free_tty;
+ }
+
ret = ecrt_slave_config_reg_pdo_entry(
- ser->sc, 0x7001, 0x01, domain, NULL);
+ sc, 0x7001 + slot_offset, 0x01, domain, NULL);
if (ret < 0) {
- printk(KERN_ERR PFX "Failed to register PDO entry.\n");
+ printk(KERN_ERR PFX "Failed to register PDO entry of %s\n",
+ port->name);
goto out_free_tty;
}
- ser->off_ctrl = ret;
+ port->off_ctrl = ret;
ret = ecrt_slave_config_reg_pdo_entry(
- ser->sc, 0x7000, 0x11, domain, NULL);
+ sc, 0x7000 + slot_offset, 0x11, domain, NULL);
if (ret < 0) {
- printk(KERN_ERR PFX "Failed to register PDO entry.\n");
+ printk(KERN_ERR PFX "Failed to register PDO entry of %s.\n",
+ port->name);
goto out_free_tty;
}
- ser->off_tx = ret;
+ port->off_tx = ret;
ret = ecrt_slave_config_reg_pdo_entry(
- ser->sc, 0x6001, 0x01, domain, NULL);
+ sc, 0x6001 + slot_offset, 0x01, domain, NULL);
if (ret < 0) {
- printk(KERN_ERR PFX "Failed to register PDO entry.\n");
+ printk(KERN_ERR PFX "Failed to register PDO entry of %s.\n",
+ port->name);
goto out_free_tty;
}
- ser->off_status = ret;
+ port->off_status = ret;
ret = ecrt_slave_config_reg_pdo_entry(
- ser->sc, 0x6000, 0x11, domain, NULL);
+ sc, 0x6000 + slot_offset, 0x11, domain, NULL);
if (ret < 0) {
- printk(KERN_ERR PFX "Failed to register PDO entry.\n");
+ printk(KERN_ERR PFX "Failed to register PDO entry of %s.\n",
+ port->name);
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) {
+ port->off_rx = ret;
+
+ if (port->max_tx_data_size > 0) {
+ port->tx_data = kmalloc(port->max_tx_data_size, GFP_KERNEL);
+ if (port->tx_data == NULL) {
+ printk(KERN_ERR PFX "Failed to allocate %u bytes of TX"
+ " memory for %s.\n", port->max_tx_data_size, port->name);
ret = -ENOMEM;
goto out_free_tty;
}
@@ -282,94 +490,280 @@
return 0;
out_free_tty:
- ectty_free(ser->tty);
+ ectty_free(port->tty);
out_return:
return ret;
}
/****************************************************************************/
-void el6002_clear(el6002_t *ser)
-{
- ectty_free(ser->tty);
- if (ser->tx_data) {
- kfree(ser->tx_data);
+void el60xx_port_clear(el60xx_port_t *port)
+{
+ ectty_free(port->tty);
+ if (port->tx_data) {
+ kfree(port->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;
+void el60xx_port_run(el60xx_port_t *port, u8 *pd)
+{
+ u16 status = EC_READ_U16(pd + port->off_status);
+ u8 *rx_data = pd + port->off_rx;
uint8_t tx_accepted_toggle, rx_request_toggle;
- switch (ser->state) {
+ switch (port->state) {
case SER_READY:
+ /* Check, if hardware handshaking has to be configured. */
+ if (!port->config_error &&
+ port->requested_rtscts != port->current_rtscts) {
+ EC_WRITE_U8(ecrt_sdo_request_data(port->rtscts_sdo),
+ port->requested_rtscts);
+ ecrt_sdo_request_write(port->rtscts_sdo);
+ port->state = SER_SET_RTSCTS;
+ break;
+ }
+
+ /* Check, if the baud rate has to be configured. */
+ if (!port->config_error &&
+ port->requested_baud_rate != port->current_baud_rate) {
+ EC_WRITE_U8(ecrt_sdo_request_data(port->baud_sdo),
+ port->requested_baud_rate);
+ ecrt_sdo_request_write(port->baud_sdo);
+ port->state = SER_SET_BAUD_RATE;
+ break;
+ }
+
+ /* Check, if the data frame has to be configured. */
+ if (!port->config_error &&
+ port->requested_data_frame != port->current_data_frame) {
+ EC_WRITE_U8(ecrt_sdo_request_data(port->frame_sdo),
+ port->requested_data_frame);
+ ecrt_sdo_request_write(port->frame_sdo);
+ port->state = SER_SET_DATA_FRAME;
+ break;
+ }
+
/* Send data */
tx_accepted_toggle = status & 0x0001;
- if (tx_accepted_toggle != 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;
+ if (tx_accepted_toggle != port->tx_accepted_toggle) { // ready
+ port->tx_data_size =
+ ectty_tx_data(port->tty, port->tx_data, port->max_tx_data_size);
+ if (port->tx_data_size) {
+#if DEBUG
+ printk(KERN_INFO PFX "%s: Sending %u bytes.\n",
+ port->name, port->tx_data_size);
+#endif
+ port->tx_request_toggle = !port->tx_request_toggle;
+ port->tx_accepted_toggle = tx_accepted_toggle;
}
}
/* Receive data */
rx_request_toggle = status & 0x0002;
- if (rx_request_toggle != ser->rx_request_toggle) {
+ if (rx_request_toggle != port->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;
+ port->rx_request_toggle = rx_request_toggle;
+#if DEBUG
+ printk(KERN_INFO PFX "%s: Received %u bytes.\n",
+ port->name, rx_data_size);
+#endif
+ ectty_rx_data(port->tty, rx_data, rx_data_size);
+ port->rx_accepted_toggle = !port->rx_accepted_toggle;
+ }
+
+ port->control =
+ port->tx_request_toggle |
+ port->rx_accepted_toggle << 1 |
+ port->tx_data_size << 8;
break;
case SER_REQUEST_INIT:
if (status & (1 << 2)) {
- ser->control = 0x0000;
- ser->state = SER_WAIT_FOR_INIT_RESPONSE;
+ port->control = 0x0000;
+ port->state = SER_WAIT_FOR_INIT_RESPONSE;
} else {
- ser->control = 1 << 2; // CW.2, request initialization
+ port->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);
+ printk(KERN_INFO PFX "%s: Init successful.\n", port->name);
+ port->tx_accepted_toggle = 1;
+ port->control = 0x0000;
+ port->state = SER_READY;
+ }
+ break;
+
+ case SER_SET_RTSCTS:
+ switch (ecrt_sdo_request_state(port->rtscts_sdo)) {
+ case EC_REQUEST_SUCCESS:
+ printk(KERN_INFO PFX "%s: Accepted RTS/CTS.\n",
+ port->name);
+ port->current_rtscts = port->requested_rtscts;
+ port->state = SER_REQUEST_INIT;
+ break;
+ case EC_REQUEST_ERROR:
+ printk(KERN_ERR PFX "Failed to set RTS/CTS on %s!\n",
+ port->name);
+ port->state = SER_REQUEST_INIT;
+ port->config_error = 1;
+ break;
+ default:
+ break;
+ }
+ break;
+
+ case SER_SET_BAUD_RATE:
+ switch (ecrt_sdo_request_state(port->baud_sdo)) {
+ case EC_REQUEST_SUCCESS:
+ printk(KERN_INFO PFX "%s: Accepted baud rate.\n",
+ port->name);
+ port->current_baud_rate = port->requested_baud_rate;
+ port->state = SER_REQUEST_INIT;
+ break;
+ case EC_REQUEST_ERROR:
+ printk(KERN_ERR PFX "Failed to set baud rate on %s!\n",
+ port->name);
+ port->state = SER_REQUEST_INIT;
+ port->config_error = 1;
+ break;
+ default:
+ break;
+ }
+ break;
+
+ case SER_SET_DATA_FRAME:
+ switch (ecrt_sdo_request_state(port->frame_sdo)) {
+ case EC_REQUEST_SUCCESS:
+ printk(KERN_INFO PFX "%s: Accepted data frame.\n",
+ port->name);
+ port->current_data_frame = port->requested_data_frame;
+ port->state = SER_REQUEST_INIT;
+ break;
+ case EC_REQUEST_ERROR:
+ printk(KERN_ERR PFX "Failed to set data frame on %s!\n",
+ port->name);
+ port->state = SER_REQUEST_INIT;
+ port->config_error = 1;
+ break;
+ default:
+ break;
+ }
+ break;
+ }
+
+ EC_WRITE_U16(pd + port->off_ctrl, port->control);
+ memcpy(pd + port->off_tx, port->tx_data, port->tx_data_size);
+}
+
+/****************************************************************************/
+
+int el6002_init(el6002_t *el6002, ec_master_t *master, u16 position,
+ ec_domain_t *domain, u32 vendor, u32 product)
+{
+ int ret = 0, i;
+
+ if (!(el6002->sc = ecrt_master_slave_config(
+ master, 0, position, vendor, product))) {
+ printk(KERN_ERR PFX "EL6002(%u): Failed to create"
+ " slave configuration.\n", position);
+ ret = -EBUSY;
+ goto out_return;
+ }
+
+ if (ecrt_slave_config_pdos(el6002->sc, EC_END, el6002_syncs)) {
+ printk(KERN_ERR PFX "EL6002(%u): Failed to configure PDOs.\n",
+ position);
+ ret = -ENOMEM;
+ goto out_return;
+ }
+
+ for (i = 0; i < EL6002_PORTS; i++) {
+ char name[EL6002_PORT_NAME_SIZE];
+ snprintf(name, EL6002_PORT_NAME_SIZE, "EL6002(%u) X%u",
+ position, i + 1);
+ if (el60xx_port_init(el6002->port + i, el6002->sc, domain, i * 0x10,
+ name)) {
+ printk(KERN_ERR PFX "EL6002(%u): Failed to init port X%u.\n",
+ position, i);
+ goto out_ports;
+ }
+ }
+
+ return 0;
+
+out_ports:
+ for (i--; i >= 0; i--) {
+ el60xx_port_clear(el6002->port + i);
+ }
+out_return:
+ return ret;
+}
+
+/****************************************************************************/
+
+void el6002_clear(el6002_t *el6002)
+{
+ int i;
+
+ for (i = 0; i < EL6002_PORTS; i++) {
+ el60xx_port_clear(el6002->port + i);
+ }
+}
+
+/****************************************************************************/
+
+void el6002_run(el6002_t *el6002, u8 *pd)
+{
+ int i;
+
+ for (i = 0; i < EL6002_PORTS; i++) {
+ el60xx_port_run(el6002->port + i, pd);
+ }
}
/*****************************************************************************/
void run_serial_devices(u8 *pd)
{
- el6002_t *ser;
-
- list_for_each_entry(ser, &handlers, list) {
- el6002_run(ser, pd);
- }
+ el6002_t *el6002;
+
+ list_for_each_entry(el6002, &handlers, list) {
+ el6002_run(el6002, pd);
+ }
+}
+
+/*****************************************************************************/
+
+int create_el6002_handler(ec_master_t *master, ec_domain_t *domain,
+ u16 position, u32 vendor, u32 product)
+{
+ el6002_t *el6002;
+ int ret;
+
+ printk(KERN_INFO PFX "Creating handler for EL6002 at position %u\n",
+ position);
+
+ el6002 = kmalloc(sizeof(*el6002), GFP_KERNEL);
+ if (!el6002) {
+ printk(KERN_ERR PFX "Failed to allocate serial device object.\n");
+ return -ENOMEM;
+ }
+
+ ret = el6002_init(el6002, master, position, domain, vendor, product);
+ if (ret) {
+ kfree(el6002);
+ return ret;
+ }
+
+ list_add_tail(&el6002->list, &handlers);
+ return 0;
}
/*****************************************************************************/
@@ -396,33 +790,24 @@
goto out_free_handlers;
}
- if (slave_info.vendor_id != VendorIdBeckhoff
- || slave_info.product_code != ProductCodeBeckhoffEL6002) {
- continue;
+ if (slave_info.vendor_id == VendorIdBeckhoff
+ && slave_info.product_code == ProductCodeBeckhoffEL6002) {
+ if (create_el6002_handler(master, domain, i,
+ slave_info.vendor_id, slave_info.product_code)) {
+ goto out_free_handlers;
+ }
}
- 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");
- ret = -ENOMEM;
- goto out_free_handlers;
+ if (slave_info.vendor_id == VendorIdIds
+ && slave_info.product_code == ProductCodeIdsCSI71A) {
+ if (create_el6002_handler(master, domain, i,
+ slave_info.vendor_id, slave_info.product_code)) {
+ goto out_free_handlers;
+ }
}
-
- ret = el6002_init(ser, master, i, domain);
- if (ret) {
- printk(KERN_ERR PFX "Failed to init serial device object.\n");
- kfree(ser);
- goto out_free_handlers;
- }
-
- list_add_tail(&ser->list, &handlers);
- }
-
-
- printk(KERN_INFO PFX "Finished.\n");
+ }
+
+ printk(KERN_INFO PFX "Finished registering serial devices.\n");
return 0;
out_free_handlers:
--- a/include/ectty.h Thu Jan 21 11:10:22 2010 +0100
+++ b/include/ectty.h Sun Jan 31 14:50:37 2010 +0100
@@ -42,6 +42,8 @@
#ifndef __ECTTY_H__
#define __ECTTY_H__
+#include <linux/termios.h>
+
/******************************************************************************
* Data types
*****************************************************************************/
@@ -49,15 +51,29 @@
struct ec_tty;
typedef struct ec_tty ec_tty_t; /**< \see ec_tty */
+/**
+ * \param cflag_changed This callback function is called when the serial
+ * settings shall be changed. The \a cflag argument contains the new settings.
+ */
+typedef struct {
+ int (*cflag_changed)(void *, tcflag_t);
+} ec_tty_operations_t;
+
/******************************************************************************
* Global functions
*****************************************************************************/
/** Create a virtual TTY interface.
- *
+ *
+ * \param ops Set of callbacks.
+ * \param cb_data Arbitrary data, that is passed to any callback.
+ *
* \return Pointer to the interface object, otherwise an ERR_PTR value.
*/
-ec_tty_t *ectty_create(void);
+ec_tty_t *ectty_create(
+ const ec_tty_operations_t *ops,
+ void *cb_data
+ );
/******************************************************************************
* TTY interface methods
--- a/master/fsm_coe.c Thu Jan 21 11:10:22 2010 +0100
+++ b/master/fsm_coe.c Sun Jan 31 14:50:37 2010 +0100
@@ -43,12 +43,15 @@
/** Maximum time in ms to wait for responses when reading out the dictionary.
*/
-#define EC_FSM_COE_DICT_TIMEOUT 3000
+#define EC_FSM_COE_DICT_TIMEOUT 1000
#define EC_COE_DOWN_REQ_HEADER_SIZE 10
#define EC_COE_DOWN_SEG_REQ_HEADER_SIZE 3
#define EC_COE_DOWN_SEG_MIN_DATA_SIZE 7
+#define DEBUG_RETRIES 0
+#define DEBUG_LONG 0
+
/*****************************************************************************/
void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
@@ -624,8 +627,9 @@
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while waiting for SDO object description "
- "response on slave %u.\n", slave->ring_position);
+ EC_ERR("Timeout while waiting for SDO 0x%04x object description "
+ "response on slave %u.\n", fsm->sdo->index,
+ slave->ring_position);
return;
}
@@ -860,8 +864,9 @@
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while waiting for SDO entry description response "
- "on slave %u.\n", slave->ring_position);
+ EC_ERR("Timeout while waiting for SDO entry 0x%04x:%x"
+ " description response on slave %u.\n",
+ fsm->sdo->index, fsm->subindex, slave->ring_position);
return;
}
@@ -1196,6 +1201,7 @@
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
+ unsigned long diff_ms;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return; // FIXME: check for response first?
@@ -1208,27 +1214,39 @@
return;
}
+ diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
+
if (datagram->working_counter != 1) {
if (!datagram->working_counter) {
- unsigned long diff_ms =
- (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
if (diff_ms < fsm->request->response_timeout) {
+#if DEBUG_RETRIES
if (fsm->slave->master->debug_level) {
EC_DBG("Slave %u did not respond to SDO download request. "
"Retrying after %u ms...\n",
slave->ring_position, (u32) diff_ms);
}
+#endif
// no response; send request datagram again
return;
}
}
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE download request failed on slave %u: ",
- slave->ring_position);
+ EC_ERR("Reception of CoE download request for SDO 0x%04x:%x failed"
+ " with timeout after %u ms on slave %u: ",
+ fsm->request->index, fsm->request->subindex, (u32) diff_ms,
+ fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
+#if DEBUG_LONG
+ if (diff_ms > 200) {
+ EC_WARN("SDO 0x%04x:%x download took %u ms on slave %u.\n",
+ fsm->request->index, fsm->request->subindex, (u32) diff_ms,
+ fsm->slave->ring_position);
+ }
+#endif
+
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
@@ -1271,8 +1289,10 @@
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while waiting for SDO download response on "
- "slave %u.\n", slave->ring_position);
+ EC_ERR("Timeout after %u ms while waiting for SDO 0x%04x:%x"
+ " download response on slave %u.\n", (u32) diff_ms,
+ fsm->request->index, fsm->request->subindex,
+ slave->ring_position);
return;
}
@@ -1689,6 +1709,7 @@
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
+ unsigned long diff_ms;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return; // FIXME: check for response first?
@@ -1701,27 +1722,39 @@
return;
}
+ diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
+
if (datagram->working_counter != 1) {
if (!datagram->working_counter) {
- unsigned long diff_ms =
- (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
if (diff_ms < fsm->request->response_timeout) {
+#if DEBUG_RETRIES
if (fsm->slave->master->debug_level) {
EC_DBG("Slave %u did not respond to SDO upload request. "
"Retrying after %u ms...\n",
slave->ring_position, (u32) diff_ms);
}
+#endif
// no response; send request datagram again
return;
}
}
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE upload request failed on slave %u: ",
- slave->ring_position);
+ EC_ERR("Reception of CoE upload request for SDO 0x%04x:%x failed"
+ " with timeout after %u ms on slave %u: ",
+ fsm->request->index, fsm->request->subindex, (u32) diff_ms,
+ fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
+#if DEBUG_LONG
+ if (diff_ms > 200) {
+ EC_WARN("SDO 0x%04x:%x upload took %u ms on slave %u.\n",
+ fsm->request->index, fsm->request->subindex, (u32) diff_ms,
+ fsm->slave->ring_position);
+ }
+#endif
+
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
@@ -1764,8 +1797,10 @@
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while waiting for SDO upload response on "
- "slave %u.\n", slave->ring_position);
+ EC_ERR("Timeout after %u ms while waiting for SDO 0x%04x:%x"
+ " upload response on slave %u.\n", (u32) diff_ms,
+ fsm->request->index, fsm->request->subindex,
+ slave->ring_position);
return;
}
--- a/master/sdo_request.c Thu Jan 21 11:10:22 2010 +0100
+++ b/master/sdo_request.c Sun Jan 31 14:50:37 2010 +0100
@@ -42,7 +42,7 @@
/** Default timeout in ms to wait for SDO transfer responses.
*/
-#define EC_SDO_REQUEST_RESPONSE_TIMEOUT 3000
+#define EC_SDO_REQUEST_RESPONSE_TIMEOUT 1000
/*****************************************************************************/
--- a/script/init.d/ethercat.in Thu Jan 21 11:10:22 2010 +0100
+++ b/script/init.d/ethercat.in Sun Jan 31 14:50:37 2010 +0100
@@ -49,6 +49,7 @@
RMMOD=/sbin/rmmod
MODINFO=/sbin/modinfo
ETHERCAT=@prefix@/bin/ethercat
+MASTER_ARGS=
#------------------------------------------------------------------------------
@@ -162,7 +163,7 @@
done
# load master module
- if ! ${MODPROBE} ${MODPROBE_FLAGS} ec_master \
+ if ! ${MODPROBE} ${MODPROBE_FLAGS} ec_master ${MASTER_ARGS} \
main_devices=${DEVICES} backup_devices=${BACKUPS}; then
exit_fail
fi
--- a/tty/module.c Thu Jan 21 11:10:22 2010 +0100
+++ b/tty/module.c Sun Jan 31 14:50:37 2010 +0100
@@ -41,6 +41,8 @@
#include <linux/termios.h>
#include <linux/timer.h>
#include <linux/version.h>
+#include <linux/serial.h>
+#include <linux/uaccess.h>
#include "../master/globals.h"
#include "../include/ectty.h"
@@ -49,7 +51,7 @@
#define PFX "ec_tty: "
-#define EC_TTY_MAX_DEVICES 10
+#define EC_TTY_MAX_DEVICES 32
#define EC_TTY_TX_BUFFER_SIZE 100
#define EC_TTY_RX_BUFFER_SIZE 100
@@ -64,6 +66,8 @@
ec_tty_t *ttys[EC_TTY_MAX_DEVICES];
struct semaphore tty_sem;
+void ec_tty_wakeup(unsigned long);
+
/*****************************************************************************/
/** \cond */
@@ -78,11 +82,15 @@
/** \endcond */
+/** Standard termios for ec_tty devices.
+ *
+ * Simplest possible configuration, as you would expect.
+ */
static struct ktermios ec_tty_std_termios = {
- .c_iflag = ICRNL | IXON,
- .c_oflag = OPOST,
- .c_cflag = B38400 | CS8 | CREAD | HUPCL,
- .c_lflag = ISIG | ICANON | ECHO | ECHOE | ECHOK | ECHOCTL | ECHOKE | IEXTEN,
+ .c_iflag = 0,
+ .c_oflag = 0,
+ .c_cflag = B9600 | CS8 | CREAD,
+ .c_lflag = 0,
.c_cc = INIT_C_CC,
};
@@ -101,6 +109,9 @@
struct timer_list timer;
struct tty_struct *tty;
+
+ ec_tty_operations_t ops;
+ void *cb_data;
};
static const struct tty_operations ec_tty_ops; // see below
@@ -139,7 +150,6 @@
tty_driver->subtype = SERIAL_TYPE_NORMAL;
tty_driver->flags = TTY_DRIVER_REAL_RAW | TTY_DRIVER_DYNAMIC_DEV;
tty_driver->init_termios = ec_tty_std_termios;
- tty_driver->init_termios.c_cflag = B9600 | CS8 | CREAD | HUPCL | CLOCAL;
tty_set_operations(tty_driver, &ec_tty_ops);
ret = tty_register_driver(tty_driver);
@@ -169,6 +179,65 @@
printk(KERN_INFO PFX "Module unloading.\n");
}
+/******************************************************************************
+ * ec_tty_t methods.
+ *****************************************************************************/
+
+int ec_tty_init(ec_tty_t *t, int minor,
+ const ec_tty_operations_t *ops, void *cb_data)
+{
+ int ret;
+ tcflag_t cflag;
+ struct tty_struct *tty;
+
+ t->minor = minor;
+ t->tx_read_idx = 0;
+ t->tx_write_idx = 0;
+ t->wakeup = 0;
+ t->rx_read_idx = 0;
+ t->rx_write_idx = 0;
+ init_timer(&t->timer);
+ t->tty = NULL;
+ t->ops = *ops;
+ t->cb_data = cb_data;
+
+ t->dev = tty_register_device(tty_driver, t->minor, NULL);
+ if (IS_ERR(t->dev)) {
+ printk(KERN_ERR PFX "Failed to register tty device.\n");
+ return PTR_ERR(t->dev);
+ }
+
+ // Tell the device-specific implementation about the initial cflags
+ tty = tty_driver->ttys[minor];
+
+ if (tty && tty->termios) { // already opened before
+ cflag = tty->termios->c_cflag;
+ } else {
+ cflag = tty_driver->init_termios.c_cflag;
+ }
+ ret = t->ops.cflag_changed(t->cb_data, cflag);
+ if (ret) {
+ printk(KERN_ERR PFX "ERROR: Initial cflag 0x%x not accepted.\n",
+ cflag);
+ tty_unregister_device(tty_driver, t->minor);
+ return ret;
+ }
+
+ t->timer.function = ec_tty_wakeup;
+ t->timer.data = (unsigned long) t;
+ t->timer.expires = jiffies + 10;
+ add_timer(&t->timer);
+ return 0;
+}
+
+/*****************************************************************************/
+
+void ec_tty_clear(ec_tty_t *tty)
+{
+ del_timer_sync(&tty->timer);
+ tty_unregister_device(tty_driver, tty->minor);
+}
+
/*****************************************************************************/
unsigned int ec_tty_tx_size(ec_tty_t *tty)
@@ -215,6 +284,25 @@
/*****************************************************************************/
+int ec_tty_get_serial_info(ec_tty_t *tty, struct serial_struct *data)
+{
+ struct serial_struct tmp;
+
+ if (!data)
+ return -EFAULT;
+
+ memset(&tmp, 0, sizeof(tmp));
+
+ if (copy_to_user(data, &tmp, sizeof(*data))) {
+ return -EFAULT;
+ }
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Timer function.
+ */
void ec_tty_wakeup(unsigned long data)
{
ec_tty_t *tty = (ec_tty_t *) data;
@@ -237,10 +325,10 @@
unsigned char *cbuf;
int space = tty_prepare_flip_string(tty->tty, &cbuf, to_recv);
- if (space < to_recv) {
- printk(KERN_WARNING PFX "Insufficient space to_recv=%d space=%d\n",
+ if (space < to_recv) {
+ printk(KERN_WARNING PFX "Insufficient space to_recv=%d space=%d\n",
to_recv, space);
- }
+ }
if (space < 0) {
to_recv = 0;
@@ -257,50 +345,17 @@
for (i = 0; i < to_recv; i++) {
cbuf[i] = tty->rx_buffer[tty->rx_read_idx];
- tty->rx_read_idx = (tty->rx_read_idx + 1) % EC_TTY_RX_BUFFER_SIZE;
+ tty->rx_read_idx =
+ (tty->rx_read_idx + 1) % EC_TTY_RX_BUFFER_SIZE;
}
tty_flip_buffer_push(tty->tty);
}
- }
+ }
tty->timer.expires += 1;
add_timer(&tty->timer);
}
-/*****************************************************************************/
-
-int ec_tty_init(ec_tty_t *tty, int minor)
-{
- tty->minor = minor;
- tty->tx_read_idx = 0;
- tty->tx_write_idx = 0;
- tty->wakeup = 0;
- tty->rx_read_idx = 0;
- tty->rx_write_idx = 0;
- init_timer(&tty->timer);
- tty->tty = NULL;
-
- tty->dev = tty_register_device(tty_driver, tty->minor, NULL);
- if (IS_ERR(tty->dev)) {
- printk(KERN_ERR PFX "Failed to register tty device.\n");
- return PTR_ERR(tty->dev);
- }
-
- tty->timer.function = ec_tty_wakeup;
- tty->timer.data = (unsigned long) tty;
- tty->timer.expires = jiffies + 10;
- add_timer(&tty->timer);
- return 0;
-}
-
-/*****************************************************************************/
-
-void ec_tty_clear(ec_tty_t *tty)
-{
- del_timer_sync(&tty->timer);
- tty_unregister_device(tty_driver, tty->minor);
-}
-
/******************************************************************************
* Device callbacks
*****************************************************************************/
@@ -314,8 +369,8 @@
printk(KERN_INFO PFX "Opening line %i.\n", line);
#endif
- if (line < 0 || line >= EC_TTY_MAX_DEVICES) {
- return -ENXIO;
+ if (line < 0 || line >= EC_TTY_MAX_DEVICES) {
+ return -ENXIO;
}
t = ttys[line];
@@ -447,45 +502,75 @@
#if EC_TTY_DEBUG >= 2
printk(KERN_INFO PFX "%s().\n", __func__);
#endif
+
+ // FIXME empty ring buffer
}
/*****************************************************************************/
static int ec_tty_ioctl(struct tty_struct *tty, struct file *file,
- unsigned int cmd, unsigned long arg)
-{
+ unsigned int cmd, unsigned long arg)
+{
+ ec_tty_t *t = (ec_tty_t *) tty->driver_data;
+ int ret = -ENOTTY;
+
+#if EC_TTY_DEBUG >= 2
+ printk(KERN_INFO PFX "%s(tty=%p, file=%p, cmd=%08x, arg=%08lx).\n",
+ __func__, tty, file, cmd, arg);
+ printk(KERN_INFO PFX "decoded: type=%02x nr=%u\n",
+ _IOC_TYPE(cmd), _IOC_NR(cmd));
+#endif
+
+ switch (cmd) {
+ case TIOCGSERIAL:
+ if (access_ok(VERIFY_WRITE,
+ (void *) arg, sizeof(struct serial_struct))) {
+ ret = ec_tty_get_serial_info(t, (struct serial_struct *) arg);
+ } else {
+ ret = -EFAULT;
+ }
+ break;
+
+ case TIOCSSERIAL: // TODO
+ break;
+
+ default:
+#if EC_TTY_DEBUG >= 2
+ printk(KERN_INFO PFX "no ioctl() -> handled by tty core!\n");
+#endif
+ ret = -ENOIOCTLCMD;
+ break;
+ }
+
+ return ret;
+}
+
+/*****************************************************************************/
+
+static void ec_tty_set_termios(struct tty_struct *tty,
+ struct ktermios *old_termios)
+{
+ ec_tty_t *t = (ec_tty_t *) tty->driver_data;
+ int ret;
+
#if EC_TTY_DEBUG >= 2
printk(KERN_INFO PFX "%s().\n", __func__);
#endif
- return -ENOTTY;
-}
-
-/*****************************************************************************/
-
-static void ec_tty_throttle(struct tty_struct *tty)
-{
-#if EC_TTY_DEBUG >= 2
- printk(KERN_INFO PFX "%s().\n", __func__);
-#endif
-}
-
-/*****************************************************************************/
-
-static void ec_tty_unthrottle(struct tty_struct *tty)
-{
-#if EC_TTY_DEBUG >= 2
- printk(KERN_INFO PFX "%s().\n", __func__);
-#endif
-}
-
-/*****************************************************************************/
-
-static void ec_tty_set_termios(struct tty_struct *tty,
- struct ktermios *old_termios)
-{
-#if EC_TTY_DEBUG >= 2
- printk(KERN_INFO PFX "%s().\n", __func__);
-#endif
+
+ if (tty->termios->c_cflag == old_termios->c_cflag)
+ return;
+
+#if EC_TTY_DEBUG >= 2
+ printk(KERN_INFO "cflag changed from %x to %x.\n",
+ old_termios->c_cflag, tty->termios->c_cflag);
+#endif
+
+ ret = t->ops.cflag_changed(t->cb_data, tty->termios->c_cflag);
+ if (ret) {
+ printk(KERN_ERR PFX "ERROR: cflag 0x%x not accepted.\n",
+ tty->termios->c_cflag);
+ tty->termios->c_cflag = old_termios->c_cflag;
+ }
}
/*****************************************************************************/
@@ -552,54 +637,29 @@
/*****************************************************************************/
-static int ec_tty_tiocmget(struct tty_struct *tty, struct file *file)
-{
-#if EC_TTY_DEBUG >= 2
- printk(KERN_INFO PFX "%s().\n", __func__);
-#endif
- return -EBUSY;
-}
-
-/*****************************************************************************/
-
-static int ec_tty_tiocmset(struct tty_struct *tty, struct file *file,
- unsigned int set, unsigned int clear)
-{
-#if EC_TTY_DEBUG >= 2
- printk(KERN_INFO PFX "%s(set=%u, clear=%u).\n", __func__, set, clear);
-#endif
- return -EBUSY;
-}
-
-/*****************************************************************************/
-
static const struct tty_operations ec_tty_ops = {
.open = ec_tty_open,
.close = ec_tty_close,
.write = ec_tty_write,
- .put_char = ec_tty_put_char,
- .write_room = ec_tty_write_room,
- .chars_in_buffer = ec_tty_chars_in_buffer,
- .flush_buffer = ec_tty_flush_buffer,
- .ioctl = ec_tty_ioctl,
- .throttle = ec_tty_throttle,
- .unthrottle = ec_tty_unthrottle,
- .set_termios = ec_tty_set_termios,
- .stop = ec_tty_stop,
- .start = ec_tty_start,
- .hangup = ec_tty_hangup,
- .break_ctl = ec_tty_break,
- .send_xchar = ec_tty_send_xchar,
- .wait_until_sent = ec_tty_wait_until_sent,
- .tiocmget = ec_tty_tiocmget,
- .tiocmset = ec_tty_tiocmset,
+ .put_char = ec_tty_put_char,
+ .write_room = ec_tty_write_room,
+ .chars_in_buffer = ec_tty_chars_in_buffer,
+ .flush_buffer = ec_tty_flush_buffer,
+ .ioctl = ec_tty_ioctl,
+ .set_termios = ec_tty_set_termios,
+ .stop = ec_tty_stop,
+ .start = ec_tty_start,
+ .hangup = ec_tty_hangup,
+ .break_ctl = ec_tty_break,
+ .send_xchar = ec_tty_send_xchar,
+ .wait_until_sent = ec_tty_wait_until_sent,
};
/******************************************************************************
* Public functions and methods
*****************************************************************************/
-ec_tty_t *ectty_create(void)
+ec_tty_t *ectty_create(const ec_tty_operations_t *ops, void *cb_data)
{
ec_tty_t *tty;
int minor, ret;
@@ -619,7 +679,7 @@
return ERR_PTR(-ENOMEM);
}
- ret = ec_tty_init(tty, minor);
+ ret = ec_tty_init(tty, minor, ops, cb_data);
if (ret) {
up(&tty_sem);
kfree(tty);
@@ -693,7 +753,8 @@
for (i = 0; i < size; i++) {
tty->rx_buffer[tty->rx_write_idx] = buffer[i];
- tty->rx_write_idx = (tty->rx_write_idx + 1) % EC_TTY_RX_BUFFER_SIZE;
+ tty->rx_write_idx =
+ (tty->rx_write_idx + 1) % EC_TTY_RX_BUFFER_SIZE;
}
}
}