hostmot2-lowlevel.h

来自「CNC 的开放码,EMC2 V2.2.8版」· C头文件 代码 · 共 132 行

//
//    Copyright (C) 2007-2008 Sebastian Kuzminsky
//
//    This program is free software; you can redistribute it and/or modify
//    it under the terms of the GNU General Public License as published by
//    the Free Software Foundation; either version 2 of the License, or
//    (at your option) any later version.
//
//    This program 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 this program; if not, write to the Free Software
//    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301 USA
//

#ifndef HOSTMOT2_LOWLEVEL_H
#define HOSTMOT2_LOWLEVEL_H


#ifndef RTAPI
#error This is a realtime component only!
#endif


#include <linux/device.h>
#include <linux/firmware.h>

#include "rtapi.h"
#include "hal.h"

#include "bitfile.h"


//
// Note: LL_PRINT(), LL_PRINT_IF(), and THIS_PRINT() all use rtapi_print()
//       The others all use rtapi_print_msg()
//

#define LL_PRINT(fmt, args...)    rtapi_print(HM2_LLIO_NAME ": " fmt, ## args);
#define THIS_PRINT(fmt, args...)  rtapi_print("%s: " fmt, this->name, ## args);

#define LL_PRINT_IF(enable, fmt, args...)  if (enable) { rtapi_print(HM2_LLIO_NAME ": " fmt, ## args); }

#define LL_ERR(fmt, args...)   rtapi_print_msg(RTAPI_MSG_ERR,  HM2_LLIO_NAME ": " fmt, ## args);
#define LL_WARN(fmt, args...)  rtapi_print_msg(RTAPI_MSG_WARN, HM2_LLIO_NAME ": " fmt, ## args);
#define LL_INFO(fmt, args...)  rtapi_print_msg(RTAPI_MSG_INFO, HM2_LLIO_NAME ": " fmt, ## args);
#define LL_DBG(fmt, args...)   rtapi_print_msg(RTAPI_MSG_DBG,  HM2_LLIO_NAME ": " fmt, ## args);

#define THIS_ERR(fmt, args...)   rtapi_print_msg(RTAPI_MSG_ERR,  "%s: " fmt, this->name, ## args);
#define THIS_WARN(fmt, args...)  rtapi_print_msg(RTAPI_MSG_WARN, "%s: " fmt, this->name, ## args);
#define THIS_INFO(fmt, args...)  rtapi_print_msg(RTAPI_MSG_INFO, "%s: " fmt, this->name, ## args);
#define THIS_DBG(fmt, args...)   rtapi_print_msg(RTAPI_MSG_DBG,  "%s: " fmt, this->name, ## args);


#define ANYIO_MAX_IOPORT_CONNECTORS (8)




// 
// this struct holds an abstract "low-level I/O" driver
//

typedef struct hm2_lowlevel_io_struct hm2_lowlevel_io_t;

// FIXME: this is really a lowlevel io *instance*, or maybe a "board"
struct hm2_lowlevel_io_struct {
    char name[HAL_NAME_LEN];
    int comp_id;

    // these two are required
    // on success these two return TRUE (not zero)
    // on failure they return FALSE (0) and set *self->io_error (below) to TRUE
    int (*read)(hm2_lowlevel_io_t *self, u32 addr, void *buffer, int size);
    int (*write)(hm2_lowlevel_io_t *self, u32 addr, void *buffer, int size);

    // these two are optional
    int (*program_fpga)(hm2_lowlevel_io_t *self, const bitfile_t *bitfile);
    int (*reset)(hm2_lowlevel_io_t *self);

    // 
    // This is a HAL parameter allocated and added to HAL by hostmot2.
    // 
    // * The llio driver sets it whenever it detects an I/O error.
    // 
    // * The hostmot2 driver checks it and stops calling the llio driver if
    //   it's true.
    // 
    // * Users can clear it (by poking the HAL parameter), which makes the
    //   hostmot2 driver call into llio to reset the hardware and start
    //   driving it again.
    // 
    hal_bit_t *io_error;

    // this gets set to TRUE when the llio driver detects an io_error, and
    // by the hm2 watchdog (if present) when it detects a watchdog bite
    int needs_reset;

    // the names of the io port connectors on this board
    int num_ioport_connectors;
    const char *ioport_connector_name[ANYIO_MAX_IOPORT_CONNECTORS];

    // the part number of the FPGA on this board
    // optional, enhances firmware sanity checking if present
    const char *fpga_part_number;

    // the llio can set this to TRUE (non-zero) or to FALSE (zero)
    // if FALSE, the hostmot2 driver will export only global read() and write() functions (and pet_watchdog())
    // if TRUE, the hostmot2 driver will export those three functions and also read_gpio() and write_gpio()
    int threadsafe;

    void *private;  // for the low-level driver to hang their struct on
};




// 
// HostMot2 functions for the low-level I/O drivers to call
//

int hm2_register(hm2_lowlevel_io_t *llio, char *config);
void hm2_unregister(hm2_lowlevel_io_t *llio);


#endif //  HOSTMOT2_LOWLEVEL_H