mirror of
https://gitlab.com/etherlab.org/ethercat.git
synced 2026-02-06 03:41:52 +08:00
TTY: Sourced serial device functions out into serial.c/serial.h.
This commit is contained in:
Florian Pose
@@ -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 \
|
||||
|
||||
@@ -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 \
|
||||
|
||||
@@ -31,10 +31,13 @@
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
EXTRA_DIST = \
|
||||
Kbuild.in \
|
||||
noinst_HEADERS = \
|
||||
serial.h \
|
||||
tty.c
|
||||
|
||||
EXTRA_DIST = \
|
||||
Kbuild.in
|
||||
|
||||
BUILT_SOURCES = \
|
||||
Kbuild
|
||||
|
||||
|
||||
438
examples/tty/serial.c
Normal file
438
examples/tty/serial.c
Normal file
@@ -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");
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
34
examples/tty/serial.h
Normal file
34
examples/tty/serial.h
Normal file
@@ -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 *);
|
||||
|
||||
/*****************************************************************************/
|
||||
@@ -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 struct timer_list timer;
|
||||
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 @@ void cyclic_task(unsigned long data)
|
||||
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 @@ int __init init_mini_module(void)
|
||||
|
||||
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) {
|
||||
ret = -EBUSY;
|
||||
printk(KERN_ERR PFX "Requesting master 0 failed.\n");
|
||||
goto out_tty;
|
||||
ret = -EBUSY;
|
||||
goto out_return;
|
||||
}
|
||||
|
||||
sema_init(&master_sem, 1);
|
||||
@@ -470,30 +196,18 @@ int __init init_mini_module(void)
|
||||
|
||||
// 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;
|
||||
if (!sc) {
|
||||
printk(KERN_ERR PFX "Failed to create slave config.\n");
|
||||
ret = -ENOMEM;
|
||||
goto out_release_master;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
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 @@ int __init init_mini_module(void)
|
||||
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 @@ void __exit cleanup_mini_module(void)
|
||||
|
||||
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");
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user