lpcmanager

Devices Bus : Removed explicit RTS pin toggling as GPIO, now that kernel side RS485 driver handles it. Also changed UART task sleep/unblock into suspend/resume, since it looks unreliable in xenomai3
revamp
2018-05-16, Edouard Tisserant
c4244c0ad6c7
Parents 21fe998eea17
Children 0df2fad481ca
Devices Bus : Removed explicit RTS pin toggling as GPIO, now that kernel side RS485 driver handles it. Also changed UART task sleep/unblock into suspend/resume, since it looks unreliable in xenomai3
4 files changed, 13 insertions(+), 168 deletions(-)
  • +3 -1
    LPCBus/MC9_Devices_cleanup.c
  • +6 -158
    LPCBus/MC9_Devices_decl.c
  • +3 -8
    LPCBus/MC9_Devices_init.c
  • +1 -1
    LPCBus/MC9_Devices_publish.c
    • --- a/LPCBus/MC9_Devices_cleanup.c Mon May 07 14:02:52 2018 +0200
    +++ b/LPCBus/MC9_Devices_cleanup.c Wed May 16 10:41:17 2018 +0200
    @@ -1,6 +1,8 @@
    +
    +UART_task_active = 0;
    +rt_task_resume(&UART_task);
    rt_task_delete(&UART_task);
    rt_task_join(&UART_task);
    closeserial(UART_fd);
    -gpio_close(RS485_GPIO_dev);
    rt_mutex_delete(&UART_WriteMutex);
    rt_mutex_delete(&UART_ReadMutex);
    --- a/LPCBus/MC9_Devices_decl.c Mon May 07 14:02:52 2018 +0200
    +++ b/LPCBus/MC9_Devices_decl.c Wed May 16 10:41:17 2018 +0200
    @@ -20,146 +20,6 @@
    perror("closeserial()");
    }
    -/*------------------------- GPIO -------------------------------------*/
    -/* from armadeus/target/packages/as_devices/c/as_gpio* */
    -
    -//#ifdef DEBUG
    -# define ERROR(fmt, ...) printf(fmt, ##__VA_ARGS__)
    -//#else
    -//# define ERROR(fmt, ...) /*fmt, ##__VA_ARGS__*/
    -//#endif
    -
    -struct gpio_device {
    - int port_num;
    - int pin_file; /* pin file for 2.6.29 interface*/
    -};
    -
    -struct gpio_device *RS485_GPIO_dev;
    -
    -static int write_file_bool(int fd, int value)
    -{
    - int ret;
    -
    - ret = write(fd, value?"1":"0", 1);
    - if (ret < 0) {
    - ERROR("write error\n");
    - return ret;
    - }
    - if (lseek(fd, 0, SEEK_SET) < 0) {
    - ERROR("lseek error\n");
    - return ret;
    - }
    -
    - return ret;
    -}
    -
    -#define BUFF_SIZE 256
    -static struct gpio_device *gpio_open(int aGpioNum)
    -{
    - struct gpio_device *dev;
    - int pin_file;
    - int export_file;
    - int gpio_dir_fd;
    - int retval;
    - char buf[BUFF_SIZE];
    - int ret = 0;
    -
    - export_file = open("/sys/class/gpio/export", O_WRONLY);
    - if (export_file < 0) {
    - ERROR("Can't open /sys/class/gpio/export\nBe sure that gpiolib is under your kernel\n");
    - return NULL;
    - }
    -
    - snprintf(buf, BUFF_SIZE, "%%d", aGpioNum);
    - retval = write(export_file, buf, strlen(buf));
    - close(export_file);
    - if (retval < 0) {
    - ERROR("/sys/class/gpio/export can't be written\n");
    - return NULL;
    - }
    -
    - snprintf(buf, BUFF_SIZE, "/sys/class/gpio/gpio%%d/direction", aGpioNum);
    - gpio_dir_fd = open(buf, O_WRONLY);
    - if (gpio_dir_fd < 0) {
    - ERROR("Can't open gpio%%d direction\n", aGpioNum);
    - return NULL;
    - }
    -
    - ret = write(gpio_dir_fd, "out", 3);
    - close(gpio_dir_fd);
    - if (ret < 0){
    - ERROR("Error writing direction\n");
    - return NULL;
    - }
    -
    - snprintf(buf, BUFF_SIZE, "/sys/class/gpio/gpio%%d/value", aGpioNum);
    - pin_file = open(buf, O_RDWR);
    - if (pin_file < 0) {
    - ERROR("Can't export gpio number %%d\n", aGpioNum);
    - return NULL;
    - }
    -
    - dev = malloc(sizeof(struct gpio_device));
    - if (dev == NULL) {
    - ERROR("Can't allocate gpio_device structure\n");
    - close(pin_file);
    - return NULL;
    - }
    -
    - dev->port_num = aGpioNum;
    - dev->pin_file = pin_file;
    -
    - return dev;
    -}
    -
    -static int gpio_close(struct gpio_device *aDev)
    -{
    - int unexport_file;
    - char buf[BUFF_SIZE];
    - int retval;
    -
    - if(aDev == NULL){
    - ERROR("device is NULL\n");
    - return -1;
    - }
    -
    - unexport_file = open("/sys/class/gpio/unexport", O_WRONLY);
    - if (unexport_file < 0) {
    - ERROR("Can't open /sys/class/gpio/unexport\nBe sure that gpiolib is under your kernel\n");
    - return -1;
    - }
    -
    - snprintf(buf, BUFF_SIZE, "%%d", aDev->port_num);
    - retval = write(unexport_file, buf, strlen(buf));
    - close(unexport_file);
    - if (retval < 0) {
    - ERROR("/sys/class/gpio/unexport can't be written\n");
    - return -1;
    - }
    -
    - close(aDev->pin_file);
    -
    - return 0;
    -}
    -
    -static int gpio_set_pin_value(struct gpio_device *aDev, int aValue)
    -{
    - int pin_file = aDev->pin_file;
    - int retval;
    -
    - retval = write_file_bool(pin_file, aValue);
    - if (retval < 0) {
    - ERROR("Can't write value\n");
    - close(pin_file);
    - return -1;
    - }
    -
    - return aValue;
    -}
    -
    -#define TransmitMode() gpio_set_pin_value(RS485_GPIO_dev, 1)
    -#define RecieveMode() gpio_set_pin_value(RS485_GPIO_dev, 0)
    -
    /*--------------------------- Serial Port handling ---------------------------*/
    int openserial(char *devicename, unsigned long baudrate)
    @@ -210,8 +70,6 @@
    return 0;
    }
    - TransmitMode();
    -
    return fd;
    }
    @@ -270,6 +128,7 @@
    static RT_TASK UART_task;
    static RT_MUTEX UART_WriteMutex;
    static RT_MUTEX UART_ReadMutex;
    +static int UART_task_active;
    void UART_task_proc(void *arg)
    {
    @@ -278,7 +137,11 @@
    uint64_t actTime;
    static uint64_t lastCommTime=0;
    - while (rt_task_sleep_until(TM_INFINITE) == -EINTR){
    + while (UART_task_active){
    + rt_task_suspend(NULL);
    + if(!UART_task_active)
    + break;
    +
    // Communicate only with initialised UART devices
    if(uartPortDevices[i] != NULL)
    {
    @@ -443,7 +306,6 @@
    fd_set set;
    struct timeval timeout;
    int rv;
    - RTIME now;
    int count = 0;
    char tmp[uartBufSize];
    @@ -455,21 +317,10 @@
    tcflush(UART_fd, TCIOFLUSH);
    - now = rt_timer_read();
    -
    if(write(UART_fd, tmp, uartBufSize) != uartBufSize){
    goto UARTDevfail;
    }
    - /* Sleep until transmission completes + 0.5ms safety */
    - while(rt_task_sleep_until(
    - now + rt_timer_ns2ticks(
    - 1000000000LL * uartBufSize * 10 / uartBaudrate
    - + 500000)) == -EINTR);
    -
    - /* Turn to listen mode*/
    - RecieveMode();
    -
    FD_ZERO(&set); /* clear the set */
    FD_SET(UART_fd, &set); /* add our file descriptor to the set */
    @@ -495,9 +346,6 @@
    }
    }
    - /* Turn to transmit mode*/
    - TransmitMode();
    -
    /* Copy received buffer */
    if((count == uartBufSize) && (tmp[uartBufSize-TAIL_LEN] == address)){
    if(ChecksumValid((unsigned char*)tmp+1, uartBufSize)){
    --- a/LPCBus/MC9_Devices_init.c Mon May 07 14:02:52 2018 +0200
    +++ b/LPCBus/MC9_Devices_init.c Wed May 16 10:41:17 2018 +0200
    @@ -1,6 +1,5 @@
    int err;
    char *serialdev = "/dev/ttyAPP1";
    -int RS485_GPIO_NUM = 102;
    uartDevWriteBuf_plc_state = EMPTY;
    uartDevReadBuf_plc_state = EMPTY;
    @@ -27,12 +26,6 @@
    if((err = rt_mutex_create (&UART_ReadMutex, "UART_ReadMutex")))
    return err;
    -RS485_GPIO_dev = gpio_open(RS485_GPIO_NUM);
    -if (!RS485_GPIO_dev) {
    - fprintf(stderr, "Error while initializing RS485 GPIO.\n");
    - return 1;
    -}
    -
    UART_fd = openserial(serialdev, uartBaudrate); /* uartBaudrate is initialized from Composer */
    if (!UART_fd) {
    fprintf(stderr, "Error while initializing %%s.\n", serialdev);
    @@ -44,7 +37,9 @@
    else
    InitUartPortDevices_shortBuffer();
    -if((err = rt_task_create(&UART_task, "UART_task", 0, 50, T_JOINABLE)))
    +UART_task_active = 1;
    +
    +if((err = rt_task_create(&UART_task, "UART_task", 0, 0, T_JOINABLE)))
    return err;
    if((err = rt_task_start(&UART_task, &UART_task_proc, NULL)))
    --- a/LPCBus/MC9_Devices_publish.c Mon May 07 14:02:52 2018 +0200
    +++ b/LPCBus/MC9_Devices_publish.c Wed May 16 10:41:17 2018 +0200
    @@ -12,5 +12,5 @@
    uartDevWriteBuf_plc_state = FULL;
    /* wakeup task */
    - rt_task_unblock(&UART_task);
    + rt_task_resume(&UART_task);
    }