Add lan9252 for Linux (#28)

- Add kernel device driver
     drivers/linux/lan9252
 - Add lan9252 file for linux
     applications/linux_lan9252demo
     soes/hal/linux-lan9252
 - Fix linux compatibility for cc.h
     #ifdef __linux__

applications/linux_lan9252demo/config.h

@@ -0,0 +1,35 @@
+#ifndef __CONFIG_H__
+#define __CONFIG_H__
+
+#include <cc.h>
+
+#define MBXSIZE     128
+#define MBXSIZEBOOT 128
+#define MBXBUFFERS  3
+
+#define MBX0_sma    0x1000
+#define MBX0_sml    MBXSIZE
+#define MBX0_sme    MBX0_sma+MBX0_sml-1
+#define MBX0_smc    0x26
+#define MBX1_sma    MBX0_sma+MBX0_sml
+#define MBX1_sml    MBXSIZE
+#define MBX1_sme    MBX1_sma+MBX1_sml-1
+#define MBX1_smc    0x22
+
+#define MBX0_sma_b  0x1000
+#define MBX0_sml_b  MBXSIZEBOOT
+#define MBX0_sme_b  MBX0_sma_b+MBX0_sml_b-1
+#define MBX0_smc_b  0x26
+#define MBX1_sma_b  MBX0_sma_b+MBX0_sml_b
+#define MBX1_sml_b  MBXSIZEBOOT
+#define MBX1_sme_b  MBX1_sma_b+MBX1_sml_b-1
+#define MBX1_smc_b  0x22
+
+#define SM2_sma     0x1100
+#define SM2_smc     0x24
+#define SM2_act     1
+#define SM3_sma     0x1180
+#define SM3_smc     0x20
+#define SM3_act     1
+
+#endif /* __CONFIG_H__ */

applications/linux_lan9252demo/main.c

@@ -0,0 +1,47 @@
+#include <stdio.h>
+
+/**
+ * This function reads physical input values and assigns the corresponding members
+ * of Rb.Buttons
+ */
+void cb_get_Buttons()
+{
+
+}
+
+/**
+ * This function writes physical output values from the corresponding members of
+ * Wb.LEDs
+ */
+
+
+void cb_set_LEDs()
+{
+
+}
+
+
+/**
+ * This function is called after a SDO write of the object Cb.Parameters.
+ */
+void cb_post_write_Parameters(int subindex)
+{
+
+}
+
+void main_run(void * arg)
+{
+  soes_init();
+
+  while(1) {
+    soes();
+  }
+}
+
+int main(void)
+{
+   printf("Hello Main\n");
+   main_run(NULL);
+   return 0;
+}
+

applications/linux_lan9252demo/slave.c

@@ -0,0 +1,265 @@
+#include <stddef.h>
+#include "utypes.h"
+#include "soes/esc.h"
+#include "soes/esc_coe.h"
+#include "soes/esc_foe.h"
+#include "slave.h"
+
+#ifndef EEP_EMULATION
+#define EEP_EMULATION   0       /* Set to 1 for EEPROM emulation */
+#endif
+
+#define WATCHDOG_RESET_VALUE 150
+#define DEFAULTTXPDOMAP    0x1a00
+#define DEFAULTRXPDOMAP    0x1600
+#define DEFAULTTXPDOITEMS  1
+#define DEFAULTRXPDOITEMS  1
+
+volatile _ESCvar  ESCvar;
+_MBX              MBX[MBXBUFFERS];
+_MBXcontrol       MBXcontrol[MBXBUFFERS];
+uint8_t           MBXrun=0;
+uint16_t          SM2_sml,SM3_sml;
+_Rbuffer          Rb;
+_Wbuffer          Wb;
+_Cbuffer          Cb;
+_App              App;
+uint16_t          TXPDOsize,RXPDOsize;
+uint16_t          txpdomap = DEFAULTTXPDOMAP;
+uint16_t          rxpdomap = DEFAULTRXPDOMAP;
+uint8_t           txpdoitems = DEFAULTTXPDOITEMS;
+uint8_t           rxpdoitems = DEFAULTTXPDOITEMS;
+
+static unsigned int watchdog = WATCHDOG_RESET_VALUE;
+static void (*application_loop_callback)(void) = NULL;
+
+/** Mandatory: Hook called from the slave stack SDO Download handler to act on
+ * user specified Index and Sub-index.
+ *
+ * @param[in] index      = index of SDO download request to handle
+ * @param[in] sub-index  = sub-index of SDO download request to handle
+ */
+void ESC_objecthandler (uint16_t index, uint8_t subindex)
+{
+   switch (index)
+   {
+   case 0x1c12:
+   {
+      if (rxpdoitems > 1)
+      {
+         rxpdoitems = 1;
+      }
+      if ((rxpdomap != 0x1600) && (rxpdomap != 0x1601)
+          && (rxpdomap != 0x0000))
+      {
+         rxpdomap = 0x1600;
+      }
+      RXPDOsize = SM2_sml = sizeRXPDO();
+      break;
+   }
+   case 0x1c13:
+   {
+      if (txpdoitems > 1)
+      {
+         txpdoitems = 1;
+      }
+      if ((txpdomap != 0x1A00) && (txpdomap != 0x1A01)
+          && (rxpdomap != 0x0000))
+      {
+         txpdomap = 0x1A00;
+      }
+      TXPDOsize = SM3_sml = sizeTXPDO();
+      break;
+   }
+   /* Handle post-write of parameter values */
+   case 0x8000:
+   {
+      cb_post_write_Parameters(subindex);
+      break;
+   }
+   default:
+      break;
+   }
+}
+
+/** Mandatory: Hook called from the slave stack ESC_stopoutputs to act on state changes
+ * forcing us to stop outputs. Here we can set them to a safe state.
+ * set
+ */
+void APP_safeoutput (void)
+{
+   DPRINT ("APP_safeoutput\n");
+
+   // Set safe values for Wb.LEDs
+   Wb.LEDs.LED0 = 0;
+   Wb.LEDs.LED1 = 0;
+
+}
+
+/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
+ */
+void TXPDO_update (void)
+{
+   ESC_write (SM3_sma, &Rb, TXPDOsize);
+}
+/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
+ */
+void RXPDO_update (void)
+{
+   ESC_read (SM2_sma, &Wb, RXPDOsize);
+}
+
+/** Mandatory: Function to update local I/O, call read ethercat outputs, call
+ * write ethercat inputs. Implement watch-dog counter to count-out if we have
+ * made state change affecting the App.state.
+ */
+void DIG_process (void)
+{
+   if (watchdog > 0)
+   {
+      watchdog--;
+   }
+   if (App.state & APPSTATE_OUTPUT)
+   {
+      /* SM2 trigger ? */
+      if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
+      {
+         ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
+         RXPDO_update();
+         watchdog = WATCHDOG_RESET_VALUE;
+
+         /* Set outputs */
+         cb_set_LEDs();
+      }
+      if (watchdog == 0)
+      {
+         DPRINT("DIG_process watchdog expired\n");
+         ESC_stopoutput();
+         /* watchdog, invalid outputs */
+         ESC_ALerror (ALERR_WATCHDOG);
+         /* goto safe-op with error bit set */
+         ESC_ALstatus (ESCsafeop | ESCerror);
+      }
+   }
+   else
+   {
+      watchdog = WATCHDOG_RESET_VALUE;
+   }
+   if (App.state)
+   {
+      /* Update inputs */
+      cb_get_Buttons();
+      TXPDO_update();
+   }
+}
+
+/********** TODO: Generic code beyond this point ***************/
+
+static const char *spi_name = "/dev/lan9252";
+
+/** Optional: Hook called after state change for application specific
+ * actions for specific state changes.
+ */
+void post_state_change_hook (uint8_t * as, uint8_t * an)
+{
+#if 0
+   /* Add specific step change hooks here */
+   if ((*as == BOOT_TO_INIT) && (*an == ESCinit))
+   {
+      boot_inithook();
+   }
+   else if((*as == INIT_TO_BOOT) && (*an & ESCerror ) == 0)
+   {
+      init_boothook();
+   }
+#endif
+}
+
+/**
+ * Set callback run once every loop in the SOES application loop.
+ */
+void set_application_loop_hook(void (*callback)(void))
+{
+   application_loop_callback = callback;
+}
+
+/**
+ * SOES main function. It should be called periodically.
+ * Reads the EtherCAT state and status. Responsible for I/O updates.
+ */
+void soes (void)
+{
+   /* On init restore PDO mappings to default size */
+   if((ESCvar.ALstatus & 0x0f) == ESCinit)
+   {
+      txpdomap = DEFAULTTXPDOMAP;
+      rxpdomap = DEFAULTRXPDOMAP;
+      txpdoitems = DEFAULTTXPDOITEMS;
+      rxpdoitems = DEFAULTTXPDOITEMS;
+   }
+
+   /* Read local time from ESC */
+   ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
+   ESCvar.Time = etohl (ESCvar.Time);
+
+   /* Check the state machine */
+   ESC_state();
+
+   /* Check mailboxes */
+   if (ESC_mbxprocess())
+   {
+      ESC_coeprocess();
+      ESC_foeprocess();
+      ESC_xoeprocess();
+   }
+   DIG_process();
+#if EEP_EMULATION
+   EEP_process ();
+   EEP_hw_process();
+#endif  /* EEP_EMULATION */
+
+   if (application_loop_callback != NULL)
+   {
+      (application_loop_callback)();
+   }
+}
+
+/**
+ * Initialize the SOES stack.
+ */
+void soes_init (void)
+{
+   DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
+
+   TXPDOsize = SM3_sml = sizeTXPDO();
+   RXPDOsize = SM2_sml = sizeRXPDO();
+
+   /* Setup post config hooks */
+   static esc_cfg_t config =
+   {
+      .pre_state_change_hook = NULL,
+      .post_state_change_hook = post_state_change_hook
+   };
+   ESC_config ((esc_cfg_t *)&config);
+
+   ESC_reset();
+   ESC_init ((void *)spi_name);
+
+   /*  wait until ESC is started up */
+   while ((ESCvar.DLstatus & 0x0001) == 0)
+   {
+      ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
+                sizeof (ESCvar.DLstatus));
+      ESCvar.DLstatus = etohs (ESCvar.DLstatus);
+   }
+
+   /* Init FoE */
+   FOE_init();
+
+   /* reset ESC to init state */
+   ESC_ALstatus (ESCinit);
+   ESC_ALerror (ALERR_NONE);
+   ESC_stopmbx();
+   ESC_stopinput();
+   ESC_stopoutput();
+}