int write_sdo(ec_sdo_request_t *req, unsigned data)
{
EC_WRITE_S32(ecrt_sdo_request_data(req), data&0xffffffff);
switch (ecrt_sdo_request_state(req)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_write(req); // trigger first read
break;
case EC_REQUEST_BUSY:
//fprintf(stderr, "SDO write still busy...\n");
//logmsg(1, "SDO value written: \n",data );
pause();
break;
case EC_REQUEST_SUCCESS:
//logmsg(1, "SDO value written: 0x%X\n", data);
pause();
ecrt_sdo_request_read(req); // trigger next read
return 1;
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to write SDO!\n");
ecrt_sdo_request_write(req); // retry writing
return 0;
break;
}
}
void disable_operation()
{
bool isOperationDisabled=false;
// while(!isOperationDisabled)
for(int i=0;i<1;++i)
{
EC_WRITE_U8(ecrt_sdo_request_data(sdo_controlword_write), 0x0000);// p85, use state transition 9
switch (ecrt_sdo_request_state(sdo_controlword_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_controlword_write write value 0x03");
ecrt_sdo_request_write(sdo_controlword_write);
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
// read state ,need switch_on_disabled
ecrt_sdo_request_read(sdo_statusword_read); // trigger read
switch (ecrt_sdo_request_state(sdo_statusword_read)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_statusword_read); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "statusword value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x004F ^ 0x0040 == 0) // p91
{
isOperationDisabled = true;
printf("motor state is in switch_on_disabled,exit safely \n");
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(isOperationDisabled)
{
break;
}
else
{
printf("bad exit!\n");
}
}//while
}
/** Add a PDO entry.
*/
void ec_fsm_pdo_entry_conf_state_map_entry(
ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
return;
}
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_SLAVE_WARN(fsm->slave, "Failed to map PDO entry"
" 0x%04X:%02X (%u bit) to position %u.\n",
fsm->entry->index, fsm->entry->subindex,
fsm->entry->bit_length, fsm->entry_pos);
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
// find next entry
if (!(fsm->entry = ec_fsm_pdo_entry_conf_next_entry(
fsm, &fsm->entry->list))) {
// No more entries to add. Write entry count.
EC_WRITE_U8(fsm->request.data, fsm->entry_pos);
fsm->request.data_size = 1;
ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index, 0);
ecrt_sdo_request_write(&fsm->request);
EC_SLAVE_DBG(fsm->slave, 1, "Setting number of PDO entries to %u.\n",
fsm->entry_pos);
fsm->state = ec_fsm_pdo_entry_conf_state_set_entry_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
return;
}
// add next entry
fsm->entry_pos++;
ec_fsm_pdo_entry_conf_action_map(fsm, datagram);
}
int read_sdo(ec_sdo_request_t *req)
{
int sdo_read_value;
switch (ecrt_sdo_request_state(req)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(req); // trigger first read
break;
case EC_REQUEST_BUSY:
//fprintf(stderr, "SDO still busy...\n");
break;
case EC_REQUEST_SUCCESS:
sdo_read_value = EC_READ_S32(ecrt_sdo_request_data(req));
//logmsg(1, "SDO value read: 0x%X\n", sdo_read_value);
ecrt_sdo_request_write(req); // trigger next write
break;
case EC_REQUEST_ERROR:
//fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(req); // retry reading
break;
}
return sdo_read_value;
}
/** Start PDO mapping.
*/
void ec_fsm_pdo_entry_conf_state_start(
ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (ec_sdo_request_alloc(&fsm->request, 4)) {
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
// set mapped PDO entry count to zero
EC_WRITE_U8(fsm->request.data, 0);
fsm->request.data_size = 1;
ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index, 0);
ecrt_sdo_request_write(&fsm->request);
EC_SLAVE_DBG(fsm->slave, 1, "Setting entry count to zero.\n");
fsm->state = ec_fsm_pdo_entry_conf_state_zero_entry_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
}
/** Starts to add a PDO entry.
*/
void ec_fsm_pdo_entry_conf_action_map(
ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
uint32_t value;
EC_SLAVE_DBG(fsm->slave, 1, "Mapping PDO entry 0x%04X:%02X (%u bit)"
" at position %u.\n",
fsm->entry->index, fsm->entry->subindex,
fsm->entry->bit_length, fsm->entry_pos);
value = fsm->entry->index << 16
| fsm->entry->subindex << 8 | fsm->entry->bit_length;
EC_WRITE_U32(fsm->request.data, value);
fsm->request.data_size = 4;
ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index,
fsm->entry_pos);
ecrt_sdo_request_write(&fsm->request);
fsm->state = ec_fsm_pdo_entry_conf_state_map_entry;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
}
int main(int argc, char **argv)
{
// ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
{
return -1;
}
if (!(sc_ana_in = ecrt_master_slave_config(master, AliasAndPositon, VendorID_ProductCode)))
{
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
#if SDO_ACCESS
fprintf(stderr, "Creating operation mode read SDO requests...\n");
if (!(sdo_operation_mode_display = ecrt_slave_config_create_sdo_request(sc_ana_in, MODES_OF_OPERATION_DISPLAY, 0, 1))) // uint8 data size 1
{
fprintf(stderr, "Failed to create SDO modes_of_operation_display 0x6061 request.\n");
return -1;
}
fprintf(stderr, "Creating operation mode write SDO requests...\n");
if (!(sdo_operation_mode_write = ecrt_slave_config_create_sdo_request(sc_ana_in, MODES_OF_OPERATION, 0, 1))) // uint8 data size 1
{
fprintf(stderr, "Failed to create SDO MODES_OF_OPERATION request.\n");
return -1;
}
fprintf(stderr, "Creating controlword write SDO requests...\n");
if (!(sdo_controlword_write = ecrt_slave_config_create_sdo_request(sc_ana_in, CONTROLWORD, 0, 2))) // uint16 data size 2
{
fprintf(stderr, "Failed to create SDO CONTROLWORD request.\n");
return -1;
}
fprintf(stderr, "Creating statusword read SDO requests...\n");
if (!(sdo_statusword_read = ecrt_slave_config_create_sdo_request(sc_ana_in, STATUSWORD, 0, 2))) // uint16 data size 2
{
fprintf(stderr, "Failed to create SDO STATUSWORD request.\n");
return -1;
}
//EC_WRITE_U16(ecrt_sdo_request_data(sdo), 0xFFFF);
ecrt_sdo_request_timeout(sdo_operation_mode_display, 500); // ms
ecrt_sdo_request_timeout(sdo_operation_mode_write, 500); // ms
ecrt_sdo_request_timeout(sdo_controlword_write, 500); // ms
ecrt_sdo_request_timeout(sdo_statusword_read, 500); // ms
#endif
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, duetfl80_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
// if (!(sc = ecrt_master_slave_config(
// master, AnaOutSlavePos, Beckhoff_EL4102))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
// if (!(sc = ecrt_master_slave_config(
// master, DigOutSlavePos, Beckhoff_EL2032))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
// // Create configuration for bus coupler
// sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
// if (!sc)
// return -1;
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
#endif
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
#if 1
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
#endif
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 1000000 / FREQUENCY;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
// handle ctrl+c ,important , do not remove
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (signal(SIGINT, my_sig_handler) == SIG_ERR)
{
printf("\ncan't catch SIGUSR1\n");
return -1;
}
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
// 1. check operation mode
bool getModeOk=false;
uint8_t mode_value;
int i=0;
while(1)
{
// printf("i=%d\n",i);
i++;
// receive process data
ecrt_master_receive(master);
// ecrt_domain_process(domain1);
// check process data state (optional)
// check_domain1_state();
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
// read_sdo();
if(i==1)
{
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger read
}
switch (ecrt_sdo_request_state(sdo_operation_mode_display)) {
case EC_REQUEST_UNUSED: // request was not used yet
printf("request was not used yet\n");
break;
case EC_REQUEST_BUSY:
// printf( "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_operation_mode_display value: 0x%02X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)));
getModeOk = true;
mode_value = EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display));
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(getModeOk)
{
printf("get mode value <%02x>\n",mode_value);
break;
}
// ecrt_domain_queue(domain1);
ecrt_master_send(master);
// pause();
// sleep(1);
// cyclic_task();
}
printf("check mode done\n");
if(getModeOk == false)
{
exit(-1);
}
// exit(0);
// 2. set operation mode to velocity mode
printf("setting mode to velocity_mode...\n");
bool isWriteModeOk=false;
while(1)
{
ecrt_master_receive(master);
EC_WRITE_U8(ecrt_sdo_request_data(sdo_operation_mode_write), 0x03);
ecrt_sdo_request_write(sdo_operation_mode_write);
switch (ecrt_sdo_request_state(sdo_operation_mode_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_operation_mode_write write value 0x03 ok\n");
// ecrt_sdo_request_write(sdo_operation_mode_write);
isWriteModeOk = true;
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
if(isWriteModeOk)
{
break;
}
ecrt_master_send(master);
}
// 3. check operation mode, after write
getModeOk=false;
// for(int i=0;i<10;++i)
i=0;
while(1)
{
i++;
ecrt_master_receive(master);
if(i==1)
{
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger read
}
switch (ecrt_sdo_request_state(sdo_operation_mode_display)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printf("sdo_operation_mode_display value: 0x%02X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)) ^ 0x03 == 0)
{
printf("mode is in velocity_mode \n");
getModeOk = true;
}
else
{
printf("mode not in velocity_mode \n");
exit(-1);
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(getModeOk)
{
break;
}
// if(i<10)
{
ecrt_master_send(master);
}
// sleep(1);
}
// 4. read target velocity
while(1)
{
i++;
ecrt_master_receive(master);
if(i==1)
{
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger read
}
switch (ecrt_sdo_request_state(sdo_operation_mode_display)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printf("sdo_operation_mode_display value: 0x%02X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)) ^ 0x03 == 0)
{
printf("mode is in velocity_mode \n");
getModeOk = true;
}
else
{
printf("mode not in velocity_mode \n");
exit(-1);
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(getModeOk)
{
break;
}
ecrt_master_send(master);
}
// 5. set target velocity to zero
// 6. read statusword
printf("6.read statusword...\n");
bool isOperationDisabled=false;
// while(!isOperationDisabled)
while(1)
{
ecrt_master_receive(master);
EC_WRITE_U8(ecrt_sdo_request_data(sdo_controlword_write), 0x0080);// reset from fault
ecrt_sdo_request_write(sdo_controlword_write);
switch (ecrt_sdo_request_state(sdo_controlword_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
printf("Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_controlword_write write value 0x0080\n");
ecrt_sdo_request_write(sdo_controlword_write);
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
ecrt_master_send(master);
// read state ,need switch_on_disabled
ecrt_sdo_request_read(sdo_statusword_read); // trigger read
switch (ecrt_sdo_request_state(sdo_statusword_read)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_statusword_read); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
printf("Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "statusword value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x004F ^ 0x0040 == 0) // p91
{
isOperationDisabled = true;
printf("motor state is in switch_on_disabled \n");
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(isOperationDisabled)
{
printf("good \n");
break;
}
ecrt_master_send(master);
}
// 7. set controlword to ready_to_switch_on
printf("7. set controlword , ready_to_switch_on...\n");
isOperationDisabled = false;
while(1)
{
ecrt_master_receive(master);
EC_WRITE_U8(ecrt_sdo_request_data(sdo_controlword_write), 0x0006);// reset from fault
ecrt_sdo_request_write(sdo_controlword_write);
switch (ecrt_sdo_request_state(sdo_controlword_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_controlword_write write value 0x0006\n");
ecrt_sdo_request_write(sdo_controlword_write);
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
ecrt_master_send(master);
// read state ,need switch_on_disabled
ecrt_sdo_request_read(sdo_statusword_read); // trigger read
switch (ecrt_sdo_request_state(sdo_statusword_read)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_statusword_read); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "statusword value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x006F ^ 0x0021 == 0) // p91
{
isOperationDisabled = true;
printf("motor state is in ready_to_switch_on \n");
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(isOperationDisabled)
{
printf("good2 \n");
break;
}
ecrt_master_send(master);
}
// 8. set controlword , enable operation
printf("8. set controlword , enable operation...\n");
isOperationDisabled = false;
while(1)
{
ecrt_master_receive(master);
EC_WRITE_U8(ecrt_sdo_request_data(sdo_controlword_write), 0x000F);// reset from fault
ecrt_sdo_request_write(sdo_controlword_write);
switch (ecrt_sdo_request_state(sdo_controlword_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_controlword_write write value 0x000F\n");
ecrt_sdo_request_write(sdo_controlword_write);
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
ecrt_master_send(master);
// read state ,need switch_on_disabled
ecrt_sdo_request_read(sdo_statusword_read); // trigger read
switch (ecrt_sdo_request_state(sdo_statusword_read)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_statusword_read); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "statusword value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)));
fprintf(stderr, "statusword value aa: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x006F);
fprintf(stderr, "statusword value aaa: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x006F^ 0x0027);
if(EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x006F == 0x0027) // p91
{
isOperationDisabled = true;
printf("motor state is in operation_on \n");
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(isOperationDisabled)
{
printf("good2 \n");
break;
}
ecrt_master_send(master);
}
// 8. set target velocity 100r/min
// sa.sa_handler = signal_handler;
// sigemptyset(&sa.sa_mask);
// sa.sa_flags = 0;
// if (sigaction(SIGALRM, &sa, 0)) {
// fprintf(stderr, "Failed to install signal handler!\n");
// return -1;
// }
// printf("Started.\n");
// while (1) {
// pause();
//#if 0
// struct timeval t;
// gettimeofday(&t, NULL);
// printf("%u.%06u\n", t.tv_sec, t.tv_usec);
//#endif
// while (sig_alarms != user_alarms) {
// cyclic_task();
// user_alarms++;
// }
// }
return 0;
}
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 (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 != 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 != port->rx_request_toggle) {
uint8_t rx_data_size = status >> 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)) {
port->control = 0x0000;
port->state = SER_WAIT_FOR_INIT_RESPONSE;
} else {
port->control = 1 << 2; // CW.2, request initialization
}
break;
case SER_WAIT_FOR_INIT_RESPONSE:
if (!(status & (1 << 2))) {
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;
}