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New RTDM API for Xenomai 3.... POSIX !!!
revamp
2018-03-23, Edouard Tisserant

3ad801203d38

Parents 63d015d37528
Children bd451154e9f8

New RTDM API for Xenomai 3.... POSIX !!!

9 files changed, 33 insertions(+), 33 deletions(-)

+1 -1

LPCBus/MC9_OnBoard_cleanup.c

+4 -4

LPCBus/MC9_OnBoard_init.c

+1 -1

LPCBus/MC9_OnBoard_publish.c

+1 -1

LPCBus/MC9_OnBoard_retrieve.c

+1 -1

LPCBus/MC9_Right_cleanup.c

+4 -4

LPCBus/MC9_Right_init.c

+1 -1

LPCBus/MC9_Right_publish.c

+1 -1

LPCBus/MC9_Right_retrieve.c

+19 -19

MC9target/plc_MC9_main_retain.c

~~--- a/LPCBus/MC9_OnBoard_cleanup.c Thu Mar 22 13:48:24 2018 +0100~~

+++ b/LPCBus/MC9_OnBoard_cleanup.c Fri Mar 23 11:30:50 2018 +0100

@@ -8,7 +8,7 @@

#ifdef ONBOARD_I2C

if(onboardbusfd!=-1)

~~- rt_dev_close(onboardbusfd);~~

+ close(onboardbusfd);

#endif /* ONBOARD_I2C */

#ifdef CAN0_EN_GPIO_0_21

~~--- a/LPCBus/MC9_OnBoard_init.c Thu Mar 22 13:48:24 2018 +0100~~

+++ b/LPCBus/MC9_OnBoard_init.c Fri Mar 23 11:30:50 2018 +0100

@@ -1,4 +1,4 @@

~~-#define ONBOARDDEVFILENAME "onBoard"~~

+#define ONBOARDDEVFILENAME "/dev/rtdm/onBoard"

int err;

@@ -53,16 +53,16 @@

switch(onBoardDev[i][1]) {

case 1:

/* OnBoard I2C bus */

~~- onboardbusfd = rt_dev_open(ONBOARDDEVFILENAME, 0);~~

+ onboardbusfd = open(ONBOARDDEVFILENAME, 0);

if(onboardbusfd < 0) {

printf("can't open %%s rtdm device, %%s\n", ONBOARDDEVFILENAME,

strerror(-onboardbusfd));

return onboardbusfd;

}

~~- err = rt_dev_ioctl(onboardbusfd, RTSMT_ONBOARD_RTIOC_INIT, &onBoardBusInit);~~

+ err = ioctl(onboardbusfd, RTSMT_ONBOARD_RTIOC_INIT, &onBoardBusInit);

if(err) {

printf("error while RTSMT_ONBOARD_RTIOC_INIT, %%s\n", strerror(-err));

~~- rt_dev_close(onboardbusfd);~~

+ close(onboardbusfd);

return err;

}

break;

~~--- a/LPCBus/MC9_OnBoard_publish.c Thu Mar 22 13:48:24 2018 +0100~~

+++ b/LPCBus/MC9_OnBoard_publish.c Fri Mar 23 11:30:50 2018 +0100

@@ -8,5 +8,5 @@

#ifdef ONBOARD_I2C

if(onboardbusfd!=-1)

~~- rt_dev_ioctl(onboardbusfd, RTSMT_ONBOARD_RTIOC_WRITE, &onBoardWriteBuf);~~

+ ioctl(onboardbusfd, RTSMT_ONBOARD_RTIOC_WRITE, &onBoardWriteBuf);

#endif /* ONBOARD_I2C */

~~--- a/LPCBus/MC9_OnBoard_retrieve.c Thu Mar 22 13:48:24 2018 +0100~~

+++ b/LPCBus/MC9_OnBoard_retrieve.c Fri Mar 23 11:30:50 2018 +0100

@@ -2,7 +2,7 @@

#ifdef ONBOARD_I2C

if(onboardbusfd!=-1)

~~- rt_dev_ioctl(onboardbusfd, RTSMT_ONBOARD_RTIOC_READ, &onBoardReadBuf);~~

+ ioctl(onboardbusfd, RTSMT_ONBOARD_RTIOC_READ, &onBoardReadBuf);

#endif /* ONBOARD_I2C */

%(retrieve_code)s

~~--- a/LPCBus/MC9_Right_cleanup.c Thu Mar 22 13:48:24 2018 +0100~~

+++ b/LPCBus/MC9_Right_cleanup.c Fri Mar 23 11:30:50 2018 +0100

@@ -1,1 +1,1 @@

~~-rt_dev_close(rightbusfd);~~

+close(rightbusfd);

~~--- a/LPCBus/MC9_Right_init.c Thu Mar 22 13:48:24 2018 +0100~~

+++ b/LPCBus/MC9_Right_init.c Fri Mar 23 11:30:50 2018 +0100

@@ -1,4 +1,4 @@

~~-#define DEVICEFILENAME "rightbus"~~

+#define DEVICEFILENAME "/dev/rtdm/rightbus"

bzero(&rightReadBuf, sizeof(rightReadBuf_t));

bzero(&rightWriteBuf, sizeof(rightWriteBuf_t));

@@ -10,17 +10,17 @@

%(init_code)s

int err;

~~-rightbusfd = rt_dev_open( DEVICEFILENAME, 0);~~

+rightbusfd = open( DEVICEFILENAME, 0);

if (rightbusfd < 0) {

printf("can't open %%s rtdm device, %%s\\n", DEVICEFILENAME,

strerror(-rightbusfd));

return rightbusfd;

}

~~-err = rt_dev_ioctl(rightbusfd, RTSMT_RTIOC_INIT, &rightBusInit);~~

+err = ioctl(rightbusfd, RTSMT_RTIOC_INIT, &rightBusInit);

if (err) {

printf("error while RTSMT_RTIOC_INIT, %%s\\n",

strerror(-err));

~~- rt_dev_close(rightbusfd);~~

+ close(rightbusfd);

return err;

}

~~--- a/LPCBus/MC9_Right_publish.c Thu Mar 22 13:48:24 2018 +0100~~

+++ b/LPCBus/MC9_Right_publish.c Fri Mar 23 11:30:50 2018 +0100

@@ -1,2 +1,2 @@

%(publish_code)s

~~-rt_dev_ioctl(rightbusfd, RTSMT_RTIOC_WRITE, &rightWriteBuf);~~

+ioctl(rightbusfd, RTSMT_RTIOC_WRITE, &rightWriteBuf);

~~--- a/LPCBus/MC9_Right_retrieve.c Thu Mar 22 13:48:24 2018 +0100~~

+++ b/LPCBus/MC9_Right_retrieve.c Fri Mar 23 11:30:50 2018 +0100

@@ -1,2 +1,2 @@

~~-rt_dev_ioctl(rightbusfd, RTSMT_RTIOC_READ, &rightReadBuf);~~

+ioctl(rightbusfd, RTSMT_RTIOC_READ, &rightReadBuf);

%(retrieve_code)s

~~--- a/MC9target/plc_MC9_main_retain.c Thu Mar 22 13:48:24 2018 +0100~~

+++ b/MC9target/plc_MC9_main_retain.c Fri Mar 23 11:30:50 2018 +0100

@@ -60,24 +60,24 @@

int size;

unsigned int uint;

uint = 1;

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_LOCK_CS_SET, &uint) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_LOCK_CS_SET, &uint) < 0) {

printf("Failed to lock CS\n");

return 0;

}

~~- status = rt_dev_write(fd_spi, rcmd, ARRAY_SIZE(rcmd));~~

+ status = write(fd_spi, rcmd, ARRAY_SIZE(rcmd));

if (status < 0) {

fprintf(stderr, "Failed to send read command. ERR : %d\n", status);

return 0;

}

uint = 0;

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_LOCK_CS_SET, &uint) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_LOCK_CS_SET, &uint) < 0) {

printf("Failed to unlock CS\n");

return 0;

}

~~- size = rt_dev_read(fd_spi, buf, len);~~

+ size = read(fd_spi, buf, len);

if (size != len) {

fprintf(stderr, "Failed to read %d bytes on the SPI bus. size : %d\n",

len, size);

@@ -89,7 +89,7 @@

int SPI_Write(void *buf, unsigned int len){

int status;

~~- status = rt_dev_write(fd_spi, buf, len);~~

+ status = write(fd_spi, buf, len);

if (status < 0) {

fprintf(stderr, "Failed to write memory. ERR : %d\n", status);

return 0;

@@ -103,7 +103,7 @@

unsigned int uint;

/* Open the SPI RTDM device */

~~- if ((fd_spi = rt_dev_open("spi_apf28_rtdm", TEST_SPI_BUS_NUMBER)) < 0) {~~

+ if ((fd_spi = open("/dev/rtdm/spi_apf28_rtdm", TEST_SPI_BUS_NUMBER)) < 0) {

printf("rt_spi_open error\n");

return;

}

@@ -112,66 +112,66 @@

/* Clock phase */

uint = TEST_SPI_CLK_PHASE;

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_CLKPHASE_SET, &uint) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_CLKPHASE_SET, &uint) < 0) {

printf("Failed to configure the clock phase\n");

return;

}

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_CLKPHASE_GET, &uint) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_CLKPHASE_GET, &uint) < 0) {

printf("Failed to get the clock phase\n");

return;

}

/* Clock polarity */

uint = TEST_SPI_CLK_POLARITY;

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_CLKPOLARITY_SET, &uint) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_CLKPOLARITY_SET, &uint) < 0) {

printf("Failed to configure the clock polarity\n");

return;

}

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_CLKPOLARITY_GET, &uint) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_CLKPOLARITY_GET, &uint) < 0) {

printf("Failed to get the clock polarity\n");

return;

}

/* Frequency */

ulong = TEST_SPI_SPEED;

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_FREQ_SET, &ulong) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_FREQ_SET, &ulong) < 0) {

printf("Failed to configure the frequency\n");

return;

}

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_FREQ_GET, &ulong) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_FREQ_GET, &ulong) < 0) {

printf("Failed to get the frequency\n");

return;

}

/* Bits per word */

uint = TEST_SPI_BITS_PER_WORD;

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_BITSPERWORD_SET, &uint) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_BITSPERWORD_SET, &uint) < 0) {

printf("Failed to configure the BPW\n");

return;

}

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_BITSPERWORD_GET, &uint) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_BITSPERWORD_GET, &uint) < 0) {

printf("Failed to get the BPW\n");

return;

}

/* Chipselect */

uint = TEST_SPI_CHIPSELECT1;

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_CHIPSELECT_SET, &uint) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_CHIPSELECT_SET, &uint) < 0) {

printf("Failed to configure the chip select\n");

return;

}

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_CHIPSELECT_GET, &uint) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_CHIPSELECT_GET, &uint) < 0) {

printf("Failed to get the chip select\n");

return;

}

/* DMA usage definition */

uint = TEST_SPI_DMA_BYTES_MIN;

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_DMA_SET, &uint) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_DMA_SET, &uint) < 0) {

printf("Failed to configure the DMA threshold\n");

return;

}

~~- if (rt_dev_ioctl(fd_spi, RTDM_SPI_DMA_GET, &uint) < 0) {~~

+ if (ioctl(fd_spi, RTDM_SPI_DMA_GET, &uint) < 0) {

printf("Failed to get the DMA threshold\n");

return;

}

@@ -194,7 +194,7 @@

0x01, 0x40,

};

~~- status = rt_dev_write(fd_spi, mbuf, ARRAY_SIZE(mbuf));~~

+ status = write(fd_spi, mbuf, ARRAY_SIZE(mbuf));

if (status < 0) {

printf("Failed to change mode. ERR : %d\n", status);

return;

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