1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
|
/********************************************************************
* Description: hal_skeleton.c
* This file, 'hal_skeleton.c', is a example that shows
* how drivers for HAL components will work and serve as
* a skeleton for new hardware drivers.
*
* Author: John Kasunich
* License: GPL Version 2
*
* Copyright (c) 2003 All rights reserved.
*
* Last change:
********************************************************************/
/** This file, 'hal_skeleton.c', is a example that shows how
drivers for HAL components will work and serve as a skeleton
for new hardware drivers.
Most of this code is taken from the hal_parport driver from John Kasunich,
which is also a good starting point for new drivers.
This driver supports only for demonstration how to write a byte (char)
to a hardware adress, here we use the parallel port (0x378).
This driver support no configuration strings so installing is easy:
realtime: halcmd loadrt hal_skeleton
The driver creates a HAL pin and if it run in realtime a function
as follows:
Pin: 'skeleton.<portnum>.pin-<pinnum>-out'
Function: 'skeleton.<portnum>.write'
This skeleton driver also doesn't use arguments you can pass to the driver
at startup. Please look at the parport driver how to implement this if you need
this for your driver.
(added 17 Nov 2006)
The approach used for writing HAL drivers has evolved quite a bit over the
three years since this was written. Driver writers should consult the HAL
User Manual for information about canonical device interfaces, and should
examine some of the more complex drivers, before using this as a basis for
a new driver.
*/
/** Copyright (C) 2003 John Kasunich
<jmkasunich AT users DOT sourceforge DOT net>
Martin Kuhnle
<mkuhnle AT users DOT sourceforge DOT net>
*/
/** This program is free software; you can redistribute it and/or
modify it under the terms of version 2 of the GNU General
Public License as published by the Free Software Foundation.
This library 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 library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111 USA
THE AUTHORS OF THIS LIBRARY ACCEPT ABSOLUTELY NO LIABILITY FOR
ANY HARM OR LOSS RESULTING FROM ITS USE. IT IS _EXTREMELY_ UNWISE
TO RELY ON SOFTWARE ALONE FOR SAFETY. Any machinery capable of
harming persons must have provisions for completely removing power
from all motors, etc, before persons enter any danger area. All
machinery must be designed to comply with local and national safety
codes, and the authors of this software can not, and do not, take
any responsibility for such compliance.
This code was written as part of the EMC HAL project. For more
information, go to www.linuxcnc.org.
*/
#include "rtapi.h" /* RTAPI realtime OS API */
#include "rtapi_app.h" /* RTAPI realtime module decls */
#include "hal.h" /* HAL public API decls */
/* If FASTIO is defined, uses outb() and inb() from <asm.io>,
instead of rtapi_outb() and rtapi_inb() - the <asm.io> ones
are inlined, and save a microsecond or two (on my 233MHz box)
*/
#define FASTIO
#ifdef FASTIO
#define rtapi_inb inb
#define rtapi_outb outb
#include <asm/io.h>
#endif
/* module information */
MODULE_AUTHOR("Martin Kuhnle");
MODULE_DESCRIPTION("Test Driver for ISA-LED Board for EMC HAL");
MODULE_LICENSE("GPL");
/* static char *cfg = 0; */
/* config string
RTAPI_MP_STRING(cfg, "config string"); */
/***********************************************************************
* STRUCTURES AND GLOBAL VARIABLES *
************************************************************************/
/* this structure contains the runtime data needed by the
driver for a single port/channel
*/
typedef struct {
hal_u32_t *data_out; /* ptrs for output */
} skeleton_t;
/* pointer to array of skeleton_t structs in shared memory, 1 per port */
static skeleton_t *port_data_array;
/* other globals */
static int comp_id; /* component ID */
static int num_ports; /* number of ports configured */
/***********************************************************************
* LOCAL FUNCTION DECLARATIONS *
************************************************************************/
/* These is the functions that actually do the I/O
everything else is just init code
*/
static void write_port(void *arg, long period);
/***********************************************************************
* INIT AND EXIT CODE *
************************************************************************/
#define MAX_PORTS 8
#define MAX_TOK ((MAX_PORTS*2)+3)
int rtapi_app_main(void)
{
char name[HAL_NAME_LEN + 1];
int n, retval;
/* only one port at the moment */
num_ports = 1;
n = 0; /* port number */
/* STEP 1: initialise the driver */
comp_id = hal_init("hal_skeleton");
if (comp_id < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SKELETON: ERROR: hal_init() failed\n");
return -1;
}
/* STEP 2: allocate shared memory for skeleton data */
port_data_array = hal_malloc(num_ports * sizeof(skeleton_t));
if (port_data_array == 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SKELETON: ERROR: hal_malloc() failed\n");
hal_exit(comp_id);
return -1;
}
/* STEP 3: export the pin(s) */
retval = hal_pin_u32_newf(HAL_IN, &(port_data_array->data_out),
comp_id, "skeleton.%d.pin-%02d-out", n, 1);
if (retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SKELETON: ERROR: port %d var export failed with err=%i\n", n,
retval);
hal_exit(comp_id);
return -1;
}
/* STEP 4: export write function */
rtapi_snprintf(name, sizeof(name), "skeleton.%d.write", n);
retval = hal_export_funct(name, write_port, &(port_data_array[n]), 0, 0,
comp_id);
if (retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SKELETON: ERROR: port %d write funct export failed\n", n);
hal_exit(comp_id);
return -1;
}
rtapi_print_msg(RTAPI_MSG_INFO,
"SKELETON: installed driver for %d ports\n", num_ports);
hal_ready(comp_id);
return 0;
}
void rtapi_app_exit(void)
{
hal_exit(comp_id);
}
/**************************************************************
* REALTIME PORT WRITE FUNCTION *
**************************************************************/
static void write_port(void *arg, long period)
{
skeleton_t *port;
unsigned char outdata;
port = arg;
outdata = *(port->data_out) & 0xFF;
/* write it to the hardware */
rtapi_outb(outdata, 0x378);
}
|
