lpcmanager

Splitted C code contained in LPCBus.py into multiple C files in LPCBus directory

2015-01-22, Edouard Tisserant
c9b717d8fc23
Parents 3c7f675fa8dd
Children e584b0c04d6c
Splitted C code contained in LPCBus.py into multiple C files in LPCBus directory
18 files changed, 867 insertions(+), 900 deletions(-)
  • +10 -900
    LPCBus.py
  • +35 -0
    LPCBus/MC8.c
  • +62 -0
    LPCBus/MC9.c
  • +6 -0
    LPCBus/MC9_Devices_cleanup.c
  • +595 -0
    LPCBus/MC9_Devices_decl.c
  • +46 -0
    LPCBus/MC9_Devices_init.c
  • +16 -0
    LPCBus/MC9_Devices_publish.c
  • +19 -0
    LPCBus/MC9_Devices_retrieve.c
  • +1 -0
    LPCBus/MC9_OnBoard_cleanup.c
  • +4 -0
    LPCBus/MC9_OnBoard_decl.c
  • +2 -0
    LPCBus/MC9_OnBoard_init.c
  • +1 -0
    LPCBus/MC9_OnBoard_publish.c
  • +1 -0
    LPCBus/MC9_OnBoard_retrieve.c
  • +1 -0
    LPCBus/MC9_Right_cleanup.c
  • +38 -0
    LPCBus/MC9_Right_decl.c
  • +26 -0
    LPCBus/MC9_Right_init.c
  • +2 -0
    LPCBus/MC9_Right_publish.c
  • +2 -0
    LPCBus/MC9_Right_retrieve.c
    • --- a/LPCBus.py Fri Jan 09 13:15:03 2015 +0100
    +++ b/LPCBus.py Thu Jan 22 18:12:42 2015 +0100
    @@ -1,907 +1,17 @@
    -
    -bus_template_code = {"MC8":"""
    -/* Code generated by LPCBus confnode */
    -
    -/* LPCBus confnode includes */
    -#include "app_glue.h"
    -#ifdef _WINDOWS_H
    - #include "iec_types.h"
    -#else
    - #include "iec_std_lib.h"
    -#endif
    -
    -%(declare_code)s
    -
    -/* LPCBus confnode user variables definition */
    -%(var_decl)s
    -
    -/* LPCBus confnode functions */
    -int __init_%(location_str)s(int argc,char **argv)
    -{
    -%(init_code)s
    - return 0;
    -}
    -
    -void __cleanup_%(location_str)s(void)
    -{
    -}
    -
    -void __retrieve_%(location_str)s(void)
    -{
    -%(retrieve_code)s
    -}
    -
    -void __publish_%(location_str)s(void)
    -{
    -%(publish_code)s
    -}
    -""",
    -#############################
    -"MC9":"""
    -/* Code generated by LPCBus confnode */
    -
    -#ifdef _WINDOWS_H
    - #include "iec_types.h"
    -#else
    - #include "iec_std_lib.h"
    -#endif
    -
    -static inline int16_t getWord(char *buffer)
    -{
    - return ((int16_t)*buffer<<8) + (int16_t)*(buffer+1);
    -}
    -
    -static inline void setWord(char *buffer, int16_t word)
    -{
    - *buffer = (char)(word>>8);
    - *(buffer+1) = (char)(word);
    -}
    -
    -static inline int8_t getBit(char *buffer, unsigned char bitOffset)
    -{
    - return (*buffer & (0x01 << bitOffset)) && 1;
    -}
    -
    -static inline void setBit(char *buffer, unsigned char bitOffset, int8_t bit)
    -{
    - unsigned char msk = (0x01 << bitOffset);
    - if(bit)
    - *buffer |= msk;
    - else
    - *buffer &= ~msk;
    -}
    -
    -%(bus_decl)s
    -
    -%(declare_code)s
    -
    -/* LPCBus confnode user variables definition */
    -%(var_decl)s
    -
    -/* LPCBus confnode functions */
    -int __init_%(location_str)s(int argc,char **argv)
    -{
    - %(bus_init_code)s
    - return 0;
    -}
    -
    -void __cleanup_%(location_str)s(void)
    -{
    - %(bus_cleanup_code)s
    -}
    -
    -void __retrieve_%(location_str)s(void)
    -{
    -%(bus_retrieve_code)s
    -}
    -
    -void __publish_%(location_str)s(void)
    -{
    -%(bus_publish_code)s
    -}
    -"""}
    -
    -bus_code = {
    -###############################################################################
    -######################## Right Bus I2C (RT) #########################
    -###############################################################################
    - "MC9:Right": {
    - "decl" : """
    -#include <rtdm/rtdm.h>
    -#include "beremiz.h"
    -
    -/* LPCBus confnode includes */
    -#define RIGHT_READ_BUFSIZE 30 /**< Right bus read buffer size */
    -#define RIGHT_WRITE_BUFSIZE 30 /**< Right bus write buffer size */
    -
    -#define MAX_RIGHT_MODULES 8
    -
    -/**< Buffers for reading data from right bus modules */
    -typedef char rightReadBuf_t[MAX_RIGHT_MODULES][RIGHT_READ_BUFSIZE];
    -
    -/**< Buffers for writing data to right bus modules */
    -typedef char rightWriteBuf_t[MAX_RIGHT_MODULES][RIGHT_WRITE_BUFSIZE];
    -
    -/**< Tables containing information about connected modules
    - on right bus (initialized by Composer) */
    -typedef char rightI2CMod_t[MAX_RIGHT_MODULES][2];
    -typedef struct {
    - rightI2CMod_t rightI2CMod;
    - unsigned long long common_ticktime__;
    -} rightBusInit_t;
    -
    -#define RTIOC_TYPE_SMT RTDM_CLASS_EXPERIMENTAL
    -
    -#define RTSMT_RTIOC_INIT _IOR(RTIOC_TYPE_SMT, 0x00, rightBusInit_t)
    -//#define RTSMT_RTIOC_CLEAN _IOR(RTIOC_TYPE_SMT, 0x01, int)
    -#define RTSMT_RTIOC_READ _IOR(RTIOC_TYPE_SMT, 0x02, rightReadBuf_t)
    -#define RTSMT_RTIOC_WRITE _IOR(RTIOC_TYPE_SMT, 0x03, rightWriteBuf_t)
    -
    -static rightReadBuf_t rightReadBuf;
    -static rightWriteBuf_t rightWriteBuf;
    -static rightBusInit_t rightBusInit;
    -
    -static int rightbusfd = -1;
    -
    -/* XXX TODO #include "smarteh.h" */
    -""",
    - "init":"""
    -#define DEVICEFILENAME "rightbus"
    -
    -bzero(&rightReadBuf, sizeof(rightReadBuf_t));
    -bzero(&rightWriteBuf, sizeof(rightWriteBuf_t));
    -bzero(&rightBusInit, sizeof(rightBusInit_t));
    -
    -rightBusInit.common_ticktime__ = common_ticktime__;
    -
    -#define rightI2CMod (rightBusInit.rightI2CMod)
    -%(init_code)s
    -
    -int err;
    -rightbusfd = rt_dev_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);
    -if (err) {
    - printf("error while RTSMT_RTIOC_INIT, %%s\\n",
    - strerror(-err));
    - rt_dev_close(rightbusfd);
    - return err;
    -}
    -""",
    - "retrieve":"""
    -rt_dev_ioctl(rightbusfd, RTSMT_RTIOC_READ, &rightReadBuf);
    -%(retrieve_code)s
    -""",
    - "publish":"""
    -%(publish_code)s
    -rt_dev_ioctl(rightbusfd, RTSMT_RTIOC_WRITE, &rightWriteBuf);
    -""",
    - "cleanup":"""
    -rt_dev_close(rightbusfd);
    -""",
    - },
    -###############################################################################
    -######################## OnBoard devices #########################
    -###############################################################################
    - "MC9:On Board": {
    - "decl" : """
    -#define MAX_ONBOARD_DEVICES 2
    -/* Tables containing information about enabled on-board devices
    - (initialized by Composer) */
    -unsigned char onBoardDev[MAX_ONBOARD_DEVICES][2];
    -""",
    - "init":"""
    -bzero(&onBoardDev, sizeof(onBoardDev));
    -%(init_code)s
    -""",
    - "retrieve":"%(retrieve_code)s",
    - "publish":"%(publish_code)s",
    - "cleanup":"",
    - },
    -###############################################################################
    -######################## RS 485 non real time #########################
    -###############################################################################
    - "MC9:Devices": {
    - "decl" : """
    -#include <stdio.h>
    -#include <termios.h>
    -#include <unistd.h>
    -#include <sys/ioctl.h>
    -#include <fcntl.h>
    -#include <sys/select.h>
    -
    -#include <native/task.h>
    -#include <native/mutex.h>
    -#include <native/timer.h>
    +import os
    -#include "beremiz.h"
    -
    -static struct termios oldterminfo;
    -
    -void closeserial(int fd)
    -{
    - tcsetattr(fd, TCSANOW, &oldterminfo);
    - if (close(fd) < 0)
    - 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;
    -
    -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
    -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;
    -}
    -
    -int gpio_close(struct gpio_device *aDev)
    -{
    - int unexport_file;
    - char buf[BUFF_SIZE];
    - int retval;
    +modpath = os.path.split(__file__)[0]
    - 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;
    -}
    -
    -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;
    -}
    -
    -int TransmitMode(int fd)
    -{
    - return gpio_set_pin_value(RS485_GPIO_dev, 1);
    -}
    -
    -int RecieveMode(int fd)
    -{
    - return gpio_set_pin_value(RS485_GPIO_dev, 0);
    -}
    -
    -/*--------------------------- Serial Port handling ---------------------------*/
    -
    -int openserial(char *devicename)
    -{
    - int fd;
    - struct termios attr;
    - speed_t baud = B115200; /* baud rate */
    -
    - if ((fd = open(devicename, O_RDWR)) == -1) {
    - perror("openserial(): open()");
    - return 0;
    - }
    - if (tcgetattr(fd, &oldterminfo) == -1) {
    - perror("openserial(): tcgetattr()");
    - return 0;
    - }
    - attr = oldterminfo;
    - attr.c_oflag = 0;
    - attr.c_iflag = 0;
    - attr.c_lflag = 0;
    -
    - attr.c_cflag = 0;
    - attr.c_cflag |= CREAD;
    - attr.c_cflag |= CLOCAL;
    - attr.c_cflag |= CS8 ; /* 8 bits */
    - /* no parity, 1 stop bit */
    -
    - cfsetspeed(&attr, baud); /* baud rate */
    -
    - if (tcflush(fd, TCIOFLUSH) == -1) {
    - perror("openserial(): tcflush()");
    - return 0;
    - }
    - if (tcsetattr(fd, TCSANOW, &attr) == -1) {
    - perror("initserial(): tcsetattr()");
    - return 0;
    - }
    -
    - TransmitMode(fd);
    -
    - return fd;
    -}
    -
    -typedef struct /* Type definition for timers for right modules */
    -{
    - unsigned char status; /* Current status of timer - running / expired */
    - long long actValue; /* Actual timer value */
    - long long toValue; /* Timeout value - initialized at startup */
    -} commTimer;
    -
    -#define TIM_DISABLED 0
    -#define TIM_EN_RUNNING 1
    -#define TIM_EN_EXPIRED 2
    -
    -#define EMPTY 0
    -#define LOCKED 1
    -#define FULL 2
    -
    -#define MAX_UART_DEVICES 52
    -/* UART bus read and write buffer size */
    -#define UART_BUFSIZE 48
    -
    -/* Tables containing information about connected devices on UART port
    - (initialized by Composer) */
    -unsigned char uartDev[MAX_UART_DEVICES][2];
    +def GetLocalCode(fname):
    + return open(os.path.join(modpath,"LPCBus",fname)).read()
    -/* Buffers for reading data from UART port devices */
    -typedef char uartDevReadBuf_t[MAX_UART_DEVICES][UART_BUFSIZE];
    -uartDevReadBuf_t uartDevReadBufA;
    -uartDevReadBuf_t uartDevReadBufB;
    -uartDevReadBuf_t *uartDevReadBuf_drv;
    -uartDevReadBuf_t *uartDevReadBuf_plc;
    -/* MC8 compatibility */
    -#define uartDevReadBuf (*uartDevReadBuf_drv)
    -
    -/* Buffers for writing data to UART port devices */
    -typedef char uartDevWriteBuf_t[MAX_UART_DEVICES][UART_BUFSIZE];
    -uartDevWriteBuf_t uartDevWriteBufA;
    -uartDevWriteBuf_t uartDevWriteBufB;
    -uartDevWriteBuf_t *uartDevWriteBuf_drv;
    -uartDevWriteBuf_t *uartDevWriteBuf_plc;
    -/* MC8 compatibility */
    -#define uartDevWriteBuf (*uartDevWriteBuf_drv)
    -
    -int uartDevWriteBuf_plc_state;
    -int uartDevReadBuf_plc_state;
    -
    -/* Function interface definition for modules on UART (RS485) bus */
    -typedef void (*uartPortFunct)(char*, char*, char);
    -/* Table describing module positions on UART (RS485) bus (parsed from Composer data) */
    -uartPortFunct uartPortDevices[MAX_UART_DEVICES] = {NULL};
    -/* Table of timers (one for each position) */
    -static commTimer uartPortTim[MAX_UART_DEVICES];
    -
    -static RT_TASK UART_task;
    -static RT_MUTEX UART_WriteMutex;
    -static RT_MUTEX UART_ReadMutex;
    -
    -void UART_task_proc(void *arg)
    -{
    - static int i=0;
    - while (rt_task_sleep_until(TM_INFINITE) == -EINTR){
    - if(!rt_mutex_acquire(&UART_WriteMutex, TM_INFINITE )){
    - if(uartDevWriteBuf_plc_state == FULL){
    - uartDevWriteBuf_t *uartDevWriteBuf_tmp;
    - uartDevWriteBuf_tmp = uartDevWriteBuf_plc;
    - uartDevWriteBuf_plc = uartDevWriteBuf_drv;
    - uartDevWriteBuf_drv = uartDevWriteBuf_tmp;
    - uartDevWriteBuf_plc_state = EMPTY;
    - }
    - rt_mutex_release(&UART_WriteMutex);
    - }
    -
    - /* Scan all positions for attached UART port modules */
    -// for(i=0;i<MAX_UART_DEVICES;i++)
    -// {
    - /* Timers for right modules */
    - if(uartPortTim[i].status != TIM_DISABLED)
    - {
    - uartPortTim[i].actValue += common_ticktime__;
    - if(uartPortTim[i].actValue < uartPortTim[i].toValue)
    - {
    - uartPortTim[i].status = TIM_EN_RUNNING;
    - }
    - else
    - uartPortTim[i].status = TIM_EN_EXPIRED;
    - }
    - if(uartPortDevices[i] != NULL)
    - {
    - // Check timer status
    - if((uartPortTim[i].status == TIM_DISABLED)
    - || (uartPortTim[i].status == TIM_EN_EXPIRED))
    - {
    - // Communicate with device
    - (*uartPortDevices[i])(
    - &uartDevReadBuf[i][0],
    - &uartDevWriteBuf[i][0],
    - uartDev[i][1]);
    -
    - // If timer is enabled, reset it's value,
    - // otherwise keep it disabled
    - if(uartPortTim[i].status != TIM_DISABLED)
    - {
    - uartPortTim[i].actValue = 0;
    - uartPortTim[i].status = TIM_EN_RUNNING;
    - }
    - else /* Keep timer disabled */
    - uartPortTim[i].status = TIM_DISABLED;
    - }
    -
    - i++;
    - }
    - else i=0;
    -
    -// }
    -
    - if(!rt_mutex_acquire(&UART_ReadMutex, TM_INFINITE )){
    - if(uartDevReadBuf_plc_state == EMPTY){
    - uartDevReadBuf_t *uartDevReadBuf_tmp;
    - uartDevReadBuf_tmp = uartDevReadBuf_plc;
    - uartDevReadBuf_plc = uartDevReadBuf_drv;
    - uartDevReadBuf_drv = uartDevReadBuf_tmp;
    - uartDevReadBuf_plc_state = FULL;
    - }
    - rt_mutex_release(&UART_ReadMutex);
    - }
    - }
    -}
    -
    -/**************************************************************************//**
    -* Calculate checksum of a buffer
    -* @param [in] buffer Pointer to buffer
    -* @return Checksum values on buffer locations 23 & 24
    -******************************************************************************/
    -void Checksum(unsigned char *buffer)
    -{
    - unsigned char i=0, j=0;
    - unsigned char checksum1=0, checksum2=0;
    - unsigned char checksum1Temp=0;
    - for(i=0;i<45;i++)
    - {
    - checksum1Temp=buffer[i];
    - for(j=0;j<8;j++) // Compute number of '1' of whole buff.
    - {
    - if((checksum1Temp & 0x01)>0)
    - checksum1++;
    - checksum1Temp = checksum1Temp >> 1;
    - }
    - checksum2 = checksum2 ^ buffer[i]; // Compute XOR of whole buffer
    - }
    - buffer[45] = checksum2; // Write number of '1' to buffer
    - buffer[46] = checksum1; // Write XOR to buffer
    -}
    -/**************************************************************************//**
    -* Check if checksum values of received buffer are valid
    -* @param [in] buffer Pointer to buffer
    -* @return TRUE if valid, otherwise FALSE
    -******************************************************************************/
    -unsigned char ChecksumValid(unsigned char *buffer)
    -{
    - unsigned char i=0, j=0;
    - unsigned char checksum1=0, checksum2=0;
    - unsigned char checksum1Temp=0;
    - for(i=0;i<45;i++)
    - {
    - checksum1Temp = buffer[i];
    - for(j=0;j<8;j++) // Compute number of '1' of whole buff.
    - {
    - if((checksum1Temp & 0x01)>0)
    - checksum1++;
    - checksum1Temp = checksum1Temp >> 1; // Compute XOR of whole buffer
    - }
    - checksum2 = checksum2^buffer[i];
    - }
    - if((checksum2==buffer[45]) && (checksum1==buffer[46])) // Check if computed checksums are the same as those in buffer (=> no error)
    - return TRUE;
    - else
    - return FALSE;
    -}
    -
    -#define TAIL_LEN 3 /* Length of data tail in bytes */
    -static int UART_fd;
    -
    -/*************************************************************************//**
    -* Support for UART modules
    -* @param [in] readBuf Pointer to read buffer (for previously polled UART device!)
    -* @param [out] writeBuf Pointer to write buffer (for current device)
    -* @param [in] address UART device address
    -* @return None
    -*****************************************************************************/
    -void UARTDevice(char* readBuf, char* writeBuf, char address)
    -{
    - fd_set set;
    - struct timeval timeout;
    - int rv;
    - RTIME now;
    - int count = 0;
    - char tmp[UART_BUFSIZE];
    -
    - /* Prepare transmit buffer */
    - memcpy(tmp+1,writeBuf,UART_BUFSIZE-TAIL_LEN-1);
    - tmp[0] = 'S';
    - tmp[45] = address;
    - Checksum((unsigned char*)tmp+1);
    -
    - tcflush(UART_fd, TCIOFLUSH);
    -
    - now = rt_timer_read();
    -
    - if(write(UART_fd, tmp, UART_BUFSIZE) != UART_BUFSIZE){
    - goto UARTDevfail;
    - }
    -
    - /* Sleep until transmission completes + 0.5ms safety */
    - while(rt_task_sleep_until(
    - now + rt_timer_ns2ticks(
    - 1000000000LL * UART_BUFSIZE * 10 / 115200
    - + 500000)) == -EINTR);
    -
    - /* Turn to listen mode*/
    - RecieveMode(UART_fd);
    -
    - while(count < UART_BUFSIZE){
    -
    - FD_ZERO(&set); /* clear the set */
    - FD_SET(UART_fd, &set); /* add our file descriptor to the set */
    -
    - timeout.tv_sec = 0;
    - timeout.tv_usec = 50000;
    -
    - rv = select(UART_fd + 1, &set, NULL, NULL, &timeout);
    - if(rv == -1)
    - printf("RS485 select error\\n");
    - else if(rv == 0)
    - {
    - //printf("timeout\\n");
    - break;
    - }
    - else {
    - int rr = read(UART_fd, tmp + count, UART_BUFSIZE - count);
    - if(rr > 0){
    - count += rr;
    - }else{
    - printf("RS485 read error %%d\\n",rr);
    - }
    - }
    - }
    +bus_template_code = { plc:GetLocalCode(plc+".c") for plc in ["MC8", "MC9"] }
    - // {
    - // int i;
    -// printf("tmp:\\n");
    -// for (i=0; i<UART_BUFSIZE; i++){
    -// printf("|%%c:%%d", tmp[i], tmp[i]);
    -// }
    -// printf("\\n");
    - // }
    -
    - /* Turn to transmit mode*/
    - TransmitMode(UART_fd);
    -
    - /* Copy received buffer */
    - if(count == UART_BUFSIZE){
    - memcpy(readBuf,tmp+1,UART_BUFSIZE-TAIL_LEN-1);
    - return;
    - }
    -
    - UARTDevfail:
    - tcflush(UART_fd, TCIOFLUSH);
    -}
    -
    -/* Macro to transform milliseconds to ns */
    -#define msTOns(ms) (1000000L*ms)
    -
    -void InitUartPortDevices(void)
    -{
    - unsigned char i=0;
    -
    - for(i=0;i<MAX_UART_DEVICES;i++)
    - {
    - switch(uartDev[i][1])
    - {
    - case(2): /* MU1 */
    - case(4):
    - case(6):
    - case(8):
    - case(10):
    - case(12):
    - case(14):
    - case(16):
    - case(18):
    - case(20):
    - case(22):
    - case(24):
    - case(26):
    - case(28):
    - case(30):
    - case(32):
    - case(34):
    - case(36):
    - case(38):
    - case(40):
    - case(42):
    - case(44):
    - case(46):
    - case(48):
    - case(66): /* MU2 */
    - case(68):
    - case(70):
    - case(72):
    - case(74): /* MU3 */
    - case(76):
    - case(78):
    - case(80):
    - uartPortDevices[i] = &UARTDevice;
    - uartPortTim[i].toValue = msTOns(50); /* 50ms */
    - uartPortTim[i].status = TIM_EN_RUNNING;
    - break;
    - case(130): /* P01, P02, P01V, P02V */
    - case(132):
    - case(134):
    - case(136):
    - case(138): /* CA1 */
    - case(140):
    - case(142):
    - case(144):
    - case(154): /* CR1 */
    - case(156):
    - case(158):
    - case(160):
    - case(162): /* IR1V */
    - case(164):
    - case(166):
    - case(168):
    - case(186): /* TH1V */
    - case(188):
    - case(190):
    - case(192):
    - uartPortDevices[i] = &UARTDevice;
    - uartPortTim[i].toValue = msTOns(200); /* 200ms */
    - uartPortTim[i].status = TIM_EN_RUNNING;
    - break;
    - case(146): /* CH1 */
    - case(148):
    - case(150):
    - case(152):
    - uartPortDevices[i] = &UARTDevice;
    - uartPortTim[i].toValue = msTOns(600); /* 600ms */
    - uartPortTim[i].status = TIM_EN_RUNNING;
    - break;
    - case(170): /* ID1, ID2, ID3 */
    - case(172):
    - case(174):
    - case(176):
    - uartPortDevices[i] = &UARTDevice;
    - uartPortTim[i].toValue = msTOns(400); /* 400ms */
    - uartPortTim[i].status = TIM_EN_RUNNING;
    - break;
    - case(194): /* DP1V */
    - case(196):
    - case(198):
    - case(200):
    - case(202): /* DP2V */
    - case(204):
    - case(206):
    - case(208):
    - case(210): /* DT1V */
    - case(212):
    - case(214):
    - case(216):
    - case(218): /* DU1V */
    - case(220):
    - case(222):
    - case(224):
    - uartPortDevices[i] = &UARTDevice;
    - uartPortTim[i].toValue = msTOns(400); /* 400ms */
    - uartPortTim[i].status = TIM_EN_RUNNING;
    - break;
    -
    - default:
    - uartPortDevices[i] = NULL; /* "Empty" or unknown module */
    - uartPortTim[i].status = TIM_DISABLED;
    - break;
    - }
    - }
    -}
    -
    -""",
    - "init":"""
    -int err;
    -char *serialdev = "/dev/ttyAPP1";
    -int RS485_GPIO_NUM = 103;
    -
    -uartDevWriteBuf_plc_state = EMPTY;
    -uartDevReadBuf_plc_state = EMPTY;
    -bzero(&uartDev, sizeof(uartDev));
    -
    -bzero(&uartDevReadBufA, sizeof(uartDevReadBuf_t));
    -bzero(&uartDevReadBufB, sizeof(uartDevReadBuf_t));
    -uartDevReadBuf_drv = &uartDevReadBufA;
    -uartDevReadBuf_plc = &uartDevReadBufB;
    -
    -bzero(&uartDevWriteBufA, sizeof(uartDevWriteBuf_t));
    -bzero(&uartDevWriteBufB, sizeof(uartDevWriteBuf_t));
    -uartDevWriteBuf_drv = &uartDevWriteBufA;
    -uartDevWriteBuf_plc = &uartDevWriteBufB;
    -
    -%(init_code)s
    -
    -if((err = rt_mutex_create (&UART_WriteMutex, "UART_WriteMutex")))
    - return err;
    -
    -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);
    -if (!UART_fd) {
    - fprintf(stderr, "Error while initializing %%s.\\n", serialdev);
    - return 1;
    -}
    -
    -InitUartPortDevices();
    -
    -if((err = rt_task_create(&UART_task, "UART_task", 0, 50, T_JOINABLE)))
    - return err;
    -
    -if(rt_task_start(&UART_task, &UART_task_proc, NULL))
    - return err;
    -
    -""",
    - "retrieve":"""
    -if(!rt_mutex_acquire(&UART_ReadMutex, TM_INFINITE )){
    -
    - int prevstate;
    - if((prevstate=uartDevReadBuf_plc_state) == FULL){
    - uartDevReadBuf_plc_state = LOCKED;
    - }
    -
    - rt_mutex_release(&UART_ReadMutex);
    -
    - if(prevstate == FULL){
    -
    -%(retrieve_code)s
    -
    - /* unlock plc buffer */
    - uartDevReadBuf_plc_state = EMPTY;
    - }else{
    - /* No new data -> no update */
    - }
    -}
    -""",
    - "publish":"""
    -if(!rt_mutex_acquire(&UART_WriteMutex, TM_INFINITE )){
    -
    - int prevstate;
    - prevstate=uartDevWriteBuf_plc_state;
    - uartDevWriteBuf_plc_state = LOCKED;
    -
    - rt_mutex_release(&UART_WriteMutex);
    -
    -%(publish_code)s
    -
    - /* unlock plc buffer */
    - uartDevWriteBuf_plc_state = FULL;
    -
    - /* wakeup task */
    - rt_task_unblock(&UART_task);
    -}
    -""",
    - "cleanup":"""
    -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);
    -""",
    - },
    -}
    -
    +bus_code = { "MC9:%s"%bus :
    + { section :
    + GetLocalCode("%s_%s_%s.c"%("MC9",''.join(bus.split()),section))
    + for section in ["decl", "init", "retrieve", "publish", "cleanup"]}
    + for bus in [ "Right", "On Board", "Devices"]}
    # to be overloaded at import
    LPCarch = None
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC8.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,35 @@
    +/* Code generated by LPCBus confnode */
    +
    +/* LPCBus confnode includes */
    +#include "app_glue.h"
    +#ifdef _WINDOWS_H
    + #include "iec_types.h"
    +#else
    + #include "iec_std_lib.h"
    +#endif
    +
    +%(declare_code)s
    +
    +/* LPCBus confnode user variables definition */
    +%(var_decl)s
    +
    +/* LPCBus confnode functions */
    +int __init_%(location_str)s(int argc,char **argv)
    +{
    +%(init_code)s
    + return 0;
    +}
    +
    +void __cleanup_%(location_str)s(void)
    +{
    +}
    +
    +void __retrieve_%(location_str)s(void)
    +{
    +%(retrieve_code)s
    +}
    +
    +void __publish_%(location_str)s(void)
    +{
    +%(publish_code)s
    +}
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,62 @@
    +
    +/* Code generated by LPCBus confnode */
    +
    +#ifdef _WINDOWS_H
    + #include "iec_types.h"
    +#else
    + #include "iec_std_lib.h"
    +#endif
    +
    +static inline int16_t getWord(char *buffer)
    +{
    + return ((int16_t)*buffer<<8) + (int16_t)*(buffer+1);
    +}
    +
    +static inline void setWord(char *buffer, int16_t word)
    +{
    + *buffer = (char)(word>>8);
    + *(buffer+1) = (char)(word);
    +}
    +
    +static inline int8_t getBit(char *buffer, unsigned char bitOffset)
    +{
    + return (*buffer & (0x01 << bitOffset)) && 1;
    +}
    +
    +static inline void setBit(char *buffer, unsigned char bitOffset, int8_t bit)
    +{
    + unsigned char msk = (0x01 << bitOffset);
    + if(bit)
    + *buffer |= msk;
    + else
    + *buffer &= ~msk;
    +}
    +
    +%(bus_decl)s
    +
    +%(declare_code)s
    +
    +/* LPCBus confnode user variables definition */
    +%(var_decl)s
    +
    +/* LPCBus confnode functions */
    +int __init_%(location_str)s(int argc,char **argv)
    +{
    + %(bus_init_code)s
    + return 0;
    +}
    +
    +void __cleanup_%(location_str)s(void)
    +{
    + %(bus_cleanup_code)s
    +}
    +
    +void __retrieve_%(location_str)s(void)
    +{
    +%(bus_retrieve_code)s
    +}
    +
    +void __publish_%(location_str)s(void)
    +{
    +%(bus_publish_code)s
    +}
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_Devices_cleanup.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,6 @@
    +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);
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_Devices_decl.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,595 @@
    +#include <stdio.h>
    +#include <termios.h>
    +#include <unistd.h>
    +#include <sys/ioctl.h>
    +#include <fcntl.h>
    +#include <sys/select.h>
    +
    +#include <native/task.h>
    +#include <native/mutex.h>
    +#include <native/timer.h>
    +
    +#include "beremiz.h"
    +
    +static struct termios oldterminfo;
    +
    +void closeserial(int fd)
    +{
    + tcsetattr(fd, TCSANOW, &oldterminfo);
    + if (close(fd) < 0)
    + 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;
    +
    +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
    +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;
    +}
    +
    +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;
    +}
    +
    +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;
    +}
    +
    +int TransmitMode(int fd)
    +{
    + return gpio_set_pin_value(RS485_GPIO_dev, 1);
    +}
    +
    +int RecieveMode(int fd)
    +{
    + return gpio_set_pin_value(RS485_GPIO_dev, 0);
    +}
    +
    +/*--------------------------- Serial Port handling ---------------------------*/
    +
    +int openserial(char *devicename)
    +{
    + int fd;
    + struct termios attr;
    + speed_t baud = B115200; /* baud rate */
    +
    + if ((fd = open(devicename, O_RDWR)) == -1) {
    + perror("openserial(): open()");
    + return 0;
    + }
    + if (tcgetattr(fd, &oldterminfo) == -1) {
    + perror("openserial(): tcgetattr()");
    + return 0;
    + }
    + attr = oldterminfo;
    + attr.c_oflag = 0;
    + attr.c_iflag = 0;
    + attr.c_lflag = 0;
    +
    + attr.c_cflag = 0;
    + attr.c_cflag |= CREAD;
    + attr.c_cflag |= CLOCAL;
    + attr.c_cflag |= CS8 ; /* 8 bits */
    + /* no parity, 1 stop bit */
    +
    + cfsetspeed(&attr, baud); /* baud rate */
    +
    + if (tcflush(fd, TCIOFLUSH) == -1) {
    + perror("openserial(): tcflush()");
    + return 0;
    + }
    + if (tcsetattr(fd, TCSANOW, &attr) == -1) {
    + perror("initserial(): tcsetattr()");
    + return 0;
    + }
    +
    + TransmitMode(fd);
    +
    + return fd;
    +}
    +
    +typedef struct /* Type definition for timers for right modules */
    +{
    + unsigned char status; /* Current status of timer - running / expired */
    + long long actValue; /* Actual timer value */
    + long long toValue; /* Timeout value - initialized at startup */
    +} commTimer;
    +
    +#define TIM_DISABLED 0
    +#define TIM_EN_RUNNING 1
    +#define TIM_EN_EXPIRED 2
    +
    +#define EMPTY 0
    +#define LOCKED 1
    +#define FULL 2
    +
    +#define MAX_UART_DEVICES 52
    +/* UART bus read and write buffer size */
    +#define UART_BUFSIZE 48
    +
    +/* Tables containing information about connected devices on UART port
    + (initialized by Composer) */
    +unsigned char uartDev[MAX_UART_DEVICES][2];
    +
    +/* Buffers for reading data from UART port devices */
    +typedef char uartDevReadBuf_t[MAX_UART_DEVICES][UART_BUFSIZE];
    +uartDevReadBuf_t uartDevReadBufA;
    +uartDevReadBuf_t uartDevReadBufB;
    +uartDevReadBuf_t *uartDevReadBuf_drv;
    +uartDevReadBuf_t *uartDevReadBuf_plc;
    +/* MC8 compatibility */
    +#define uartDevReadBuf (*uartDevReadBuf_drv)
    +
    +/* Buffers for writing data to UART port devices */
    +typedef char uartDevWriteBuf_t[MAX_UART_DEVICES][UART_BUFSIZE];
    +uartDevWriteBuf_t uartDevWriteBufA;
    +uartDevWriteBuf_t uartDevWriteBufB;
    +uartDevWriteBuf_t *uartDevWriteBuf_drv;
    +uartDevWriteBuf_t *uartDevWriteBuf_plc;
    +/* MC8 compatibility */
    +#define uartDevWriteBuf (*uartDevWriteBuf_drv)
    +
    +int uartDevWriteBuf_plc_state;
    +int uartDevReadBuf_plc_state;
    +
    +/* Function interface definition for modules on UART (RS485) bus */
    +typedef void (*uartPortFunct)(char*, char*, char);
    +/* Table describing module positions on UART (RS485) bus (parsed from Composer data) */
    +uartPortFunct uartPortDevices[MAX_UART_DEVICES] = {NULL};
    +/* Table of timers (one for each position) */
    +static commTimer uartPortTim[MAX_UART_DEVICES];
    +
    +static RT_TASK UART_task;
    +static RT_MUTEX UART_WriteMutex;
    +static RT_MUTEX UART_ReadMutex;
    +
    +void UART_task_proc(void *arg)
    +{
    + static int i=0;
    + while (rt_task_sleep_until(TM_INFINITE) == -EINTR){
    + if(!rt_mutex_acquire(&UART_WriteMutex, TM_INFINITE )){
    + if(uartDevWriteBuf_plc_state == FULL){
    + uartDevWriteBuf_t *uartDevWriteBuf_tmp;
    + uartDevWriteBuf_tmp = uartDevWriteBuf_plc;
    + uartDevWriteBuf_plc = uartDevWriteBuf_drv;
    + uartDevWriteBuf_drv = uartDevWriteBuf_tmp;
    + uartDevWriteBuf_plc_state = EMPTY;
    + }
    + rt_mutex_release(&UART_WriteMutex);
    + }
    +
    + /* Scan all positions for attached UART port modules */
    +// for(i=0;i<MAX_UART_DEVICES;i++)
    +// {
    + /* Timers for right modules */
    + if(uartPortTim[i].status != TIM_DISABLED)
    + {
    + uartPortTim[i].actValue += common_ticktime__;
    + if(uartPortTim[i].actValue < uartPortTim[i].toValue)
    + {
    + uartPortTim[i].status = TIM_EN_RUNNING;
    + }
    + else
    + uartPortTim[i].status = TIM_EN_EXPIRED;
    + }
    + if(uartPortDevices[i] != NULL)
    + {
    + // Check timer status
    + if((uartPortTim[i].status == TIM_DISABLED)
    + || (uartPortTim[i].status == TIM_EN_EXPIRED))
    + {
    + // Communicate with device
    + (*uartPortDevices[i])(
    + &uartDevReadBuf[i][0],
    + &uartDevWriteBuf[i][0],
    + uartDev[i][1]);
    +
    + // If timer is enabled, reset it's value,
    + // otherwise keep it disabled
    + if(uartPortTim[i].status != TIM_DISABLED)
    + {
    + uartPortTim[i].actValue = 0;
    + uartPortTim[i].status = TIM_EN_RUNNING;
    + }
    + else /* Keep timer disabled */
    + uartPortTim[i].status = TIM_DISABLED;
    + }
    +
    + i++;
    + }
    + else i=0;
    +
    +// }
    +
    + if(!rt_mutex_acquire(&UART_ReadMutex, TM_INFINITE )){
    + if(uartDevReadBuf_plc_state == EMPTY){
    + uartDevReadBuf_t *uartDevReadBuf_tmp;
    + uartDevReadBuf_tmp = uartDevReadBuf_plc;
    + uartDevReadBuf_plc = uartDevReadBuf_drv;
    + uartDevReadBuf_drv = uartDevReadBuf_tmp;
    + uartDevReadBuf_plc_state = FULL;
    + }
    + rt_mutex_release(&UART_ReadMutex);
    + }
    + }
    +}
    +
    +/**************************************************************************//**
    +* Calculate checksum of a buffer
    +* @param [in] buffer Pointer to buffer
    +* @return Checksum values on buffer locations 23 & 24
    +******************************************************************************/
    +void Checksum(unsigned char *buffer)
    +{
    + unsigned char i=0, j=0;
    + unsigned char checksum1=0, checksum2=0;
    + unsigned char checksum1Temp=0;
    + for(i=0;i<45;i++)
    + {
    + checksum1Temp=buffer[i];
    + for(j=0;j<8;j++) // Compute number of '1' of whole buff.
    + {
    + if((checksum1Temp & 0x01)>0)
    + checksum1++;
    + checksum1Temp = checksum1Temp >> 1;
    + }
    + checksum2 = checksum2 ^ buffer[i]; // Compute XOR of whole buffer
    + }
    + buffer[45] = checksum2; // Write number of '1' to buffer
    + buffer[46] = checksum1; // Write XOR to buffer
    +}
    +/**************************************************************************//**
    +* Check if checksum values of received buffer are valid
    +* @param [in] buffer Pointer to buffer
    +* @return TRUE if valid, otherwise FALSE
    +******************************************************************************/
    +unsigned char ChecksumValid(unsigned char *buffer)
    +{
    + unsigned char i=0, j=0;
    + unsigned char checksum1=0, checksum2=0;
    + unsigned char checksum1Temp=0;
    + for(i=0;i<45;i++)
    + {
    + checksum1Temp = buffer[i];
    + for(j=0;j<8;j++) // Compute number of '1' of whole buff.
    + {
    + if((checksum1Temp & 0x01)>0)
    + checksum1++;
    + checksum1Temp = checksum1Temp >> 1; // Compute XOR of whole buffer
    + }
    + checksum2 = checksum2^buffer[i];
    + }
    + if((checksum2==buffer[45]) && (checksum1==buffer[46])) // Check if computed checksums are the same as those in buffer (=> no error)
    + return TRUE;
    + else
    + return FALSE;
    +}
    +
    +#define TAIL_LEN 3 /* Length of data tail in bytes */
    +static int UART_fd;
    +
    +/*************************************************************************//**
    +* Support for UART modules
    +* @param [in] readBuf Pointer to read buffer (for previously polled UART device!)
    +* @param [out] writeBuf Pointer to write buffer (for current device)
    +* @param [in] address UART device address
    +* @return None
    +*****************************************************************************/
    +void UARTDevice(char* readBuf, char* writeBuf, char address)
    +{
    + fd_set set;
    + struct timeval timeout;
    + int rv;
    + RTIME now;
    + int count = 0;
    + char tmp[UART_BUFSIZE];
    +
    + /* Prepare transmit buffer */
    + memcpy(tmp+1,writeBuf,UART_BUFSIZE-TAIL_LEN-1);
    + tmp[0] = 'S';
    + tmp[45] = address;
    + Checksum((unsigned char*)tmp+1);
    +
    + tcflush(UART_fd, TCIOFLUSH);
    +
    + now = rt_timer_read();
    +
    + if(write(UART_fd, tmp, UART_BUFSIZE) != UART_BUFSIZE){
    + goto UARTDevfail;
    + }
    +
    + /* Sleep until transmission completes + 0.5ms safety */
    + while(rt_task_sleep_until(
    + now + rt_timer_ns2ticks(
    + 1000000000LL * UART_BUFSIZE * 10 / 115200
    + + 500000)) == -EINTR);
    +
    + /* Turn to listen mode*/
    + RecieveMode(UART_fd);
    +
    + while(count < UART_BUFSIZE){
    +
    + FD_ZERO(&set); /* clear the set */
    + FD_SET(UART_fd, &set); /* add our file descriptor to the set */
    +
    + timeout.tv_sec = 0;
    + timeout.tv_usec = 50000;
    +
    + rv = select(UART_fd + 1, &set, NULL, NULL, &timeout);
    + if(rv == -1)
    + printf("RS485 select error\n");
    + else if(rv == 0)
    + {
    + //printf("timeout\n");
    + break;
    + }
    + else {
    + int rr = read(UART_fd, tmp + count, UART_BUFSIZE - count);
    + if(rr > 0){
    + count += rr;
    + }else{
    + printf("RS485 read error %%d\n",rr);
    + }
    + }
    + }
    +
    + // {
    + // int i;
    +// printf("tmp:\n");
    +// for (i=0; i<UART_BUFSIZE; i++){
    +// printf("|%%c:%%d", tmp[i], tmp[i]);
    +// }
    +// printf("\n");
    + // }
    +
    + /* Turn to transmit mode*/
    + TransmitMode(UART_fd);
    +
    + /* Copy received buffer */
    + if(count == UART_BUFSIZE){
    + memcpy(readBuf,tmp+1,UART_BUFSIZE-TAIL_LEN-1);
    + return;
    + }
    +
    + UARTDevfail:
    + tcflush(UART_fd, TCIOFLUSH);
    +}
    +
    +/* Macro to transform milliseconds to ns */
    +#define msTOns(ms) (1000000L*ms)
    +
    +void InitUartPortDevices(void)
    +{
    + unsigned char i=0;
    +
    + for(i=0;i<MAX_UART_DEVICES;i++)
    + {
    + switch(uartDev[i][1])
    + {
    + case(2): /* MU1 */
    + case(4):
    + case(6):
    + case(8):
    + case(10):
    + case(12):
    + case(14):
    + case(16):
    + case(18):
    + case(20):
    + case(22):
    + case(24):
    + case(26):
    + case(28):
    + case(30):
    + case(32):
    + case(34):
    + case(36):
    + case(38):
    + case(40):
    + case(42):
    + case(44):
    + case(46):
    + case(48):
    + case(66): /* MU2 */
    + case(68):
    + case(70):
    + case(72):
    + case(74): /* MU3 */
    + case(76):
    + case(78):
    + case(80):
    + uartPortDevices[i] = &UARTDevice;
    + uartPortTim[i].toValue = msTOns(50); /* 50ms */
    + uartPortTim[i].status = TIM_EN_RUNNING;
    + break;
    + case(130): /* P01, P02, P01V, P02V */
    + case(132):
    + case(134):
    + case(136):
    + case(138): /* CA1 */
    + case(140):
    + case(142):
    + case(144):
    + case(154): /* CR1 */
    + case(156):
    + case(158):
    + case(160):
    + case(162): /* IR1V */
    + case(164):
    + case(166):
    + case(168):
    + case(186): /* TH1V */
    + case(188):
    + case(190):
    + case(192):
    + uartPortDevices[i] = &UARTDevice;
    + uartPortTim[i].toValue = msTOns(200); /* 200ms */
    + uartPortTim[i].status = TIM_EN_RUNNING;
    + break;
    + case(146): /* CH1 */
    + case(148):
    + case(150):
    + case(152):
    + uartPortDevices[i] = &UARTDevice;
    + uartPortTim[i].toValue = msTOns(600); /* 600ms */
    + uartPortTim[i].status = TIM_EN_RUNNING;
    + break;
    + case(170): /* ID1, ID2, ID3 */
    + case(172):
    + case(174):
    + case(176):
    + uartPortDevices[i] = &UARTDevice;
    + uartPortTim[i].toValue = msTOns(400); /* 400ms */
    + uartPortTim[i].status = TIM_EN_RUNNING;
    + break;
    + case(194): /* DP1V */
    + case(196):
    + case(198):
    + case(200):
    + case(202): /* DP2V */
    + case(204):
    + case(206):
    + case(208):
    + case(210): /* DT1V */
    + case(212):
    + case(214):
    + case(216):
    + case(218): /* DU1V */
    + case(220):
    + case(222):
    + case(224):
    + uartPortDevices[i] = &UARTDevice;
    + uartPortTim[i].toValue = msTOns(400); /* 400ms */
    + uartPortTim[i].status = TIM_EN_RUNNING;
    + break;
    +
    + default:
    + uartPortDevices[i] = NULL; /* "Empty" or unknown module */
    + uartPortTim[i].status = TIM_DISABLED;
    + break;
    + }
    + }
    +}
    +
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_Devices_init.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,46 @@
    +int err;
    +char *serialdev = "/dev/ttyAPP1";
    +int RS485_GPIO_NUM = 103;
    +
    +uartDevWriteBuf_plc_state = EMPTY;
    +uartDevReadBuf_plc_state = EMPTY;
    +bzero(&uartDev, sizeof(uartDev));
    +
    +bzero(&uartDevReadBufA, sizeof(uartDevReadBuf_t));
    +bzero(&uartDevReadBufB, sizeof(uartDevReadBuf_t));
    +uartDevReadBuf_drv = &uartDevReadBufA;
    +uartDevReadBuf_plc = &uartDevReadBufB;
    +
    +bzero(&uartDevWriteBufA, sizeof(uartDevWriteBuf_t));
    +bzero(&uartDevWriteBufB, sizeof(uartDevWriteBuf_t));
    +uartDevWriteBuf_drv = &uartDevWriteBufA;
    +uartDevWriteBuf_plc = &uartDevWriteBufB;
    +
    +%(init_code)s
    +
    +if((err = rt_mutex_create (&UART_WriteMutex, "UART_WriteMutex")))
    + return err;
    +
    +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);
    +if (!UART_fd) {
    + fprintf(stderr, "Error while initializing %%s.\n", serialdev);
    + return 1;
    +}
    +
    +InitUartPortDevices();
    +
    +if((err = rt_task_create(&UART_task, "UART_task", 0, 50, T_JOINABLE)))
    + return err;
    +
    +if(rt_task_start(&UART_task, &UART_task_proc, NULL))
    + return err;
    +
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_Devices_publish.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,16 @@
    +if(!rt_mutex_acquire(&UART_WriteMutex, TM_INFINITE )){
    +
    + int prevstate;
    + prevstate=uartDevWriteBuf_plc_state;
    + uartDevWriteBuf_plc_state = LOCKED;
    +
    + rt_mutex_release(&UART_WriteMutex);
    +
    +%(publish_code)s
    +
    + /* unlock plc buffer */
    + uartDevWriteBuf_plc_state = FULL;
    +
    + /* wakeup task */
    + rt_task_unblock(&UART_task);
    +}
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_Devices_retrieve.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,19 @@
    +if(!rt_mutex_acquire(&UART_ReadMutex, TM_INFINITE )){
    +
    + int prevstate;
    + if((prevstate=uartDevReadBuf_plc_state) == FULL){
    + uartDevReadBuf_plc_state = LOCKED;
    + }
    +
    + rt_mutex_release(&UART_ReadMutex);
    +
    + if(prevstate == FULL){
    +
    +%(retrieve_code)s
    +
    + /* unlock plc buffer */
    + uartDevReadBuf_plc_state = EMPTY;
    + }else{
    + /* No new data -> no update */
    + }
    +}
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_OnBoard_cleanup.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,1 @@
    +/* Hello */
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_OnBoard_decl.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,4 @@
    +#define MAX_ONBOARD_DEVICES 2
    +/* Tables containing information about enabled on-board devices
    + (initialized by Composer) */
    +unsigned char onBoardDev[MAX_ONBOARD_DEVICES][2];
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_OnBoard_init.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,2 @@
    +bzero(&onBoardDev, sizeof(onBoardDev));
    +%(init_code)s
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_OnBoard_publish.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,1 @@
    +%(publish_code)s
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_OnBoard_retrieve.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,1 @@
    +%(retrieve_code)s
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_Right_cleanup.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,1 @@
    +rt_dev_close(rightbusfd);
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_Right_decl.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,38 @@
    +
    +#include <rtdm/rtdm.h>
    +#include "beremiz.h"
    +
    +/* LPCBus confnode includes */
    +#define RIGHT_READ_BUFSIZE 30 /**< Right bus read buffer size */
    +#define RIGHT_WRITE_BUFSIZE 30 /**< Right bus write buffer size */
    +
    +#define MAX_RIGHT_MODULES 8
    +
    +/**< Buffers for reading data from right bus modules */
    +typedef char rightReadBuf_t[MAX_RIGHT_MODULES][RIGHT_READ_BUFSIZE];
    +
    +/**< Buffers for writing data to right bus modules */
    +typedef char rightWriteBuf_t[MAX_RIGHT_MODULES][RIGHT_WRITE_BUFSIZE];
    +
    +/**< Tables containing information about connected modules
    + on right bus (initialized by Composer) */
    +typedef char rightI2CMod_t[MAX_RIGHT_MODULES][2];
    +typedef struct {
    + rightI2CMod_t rightI2CMod;
    + unsigned long long common_ticktime__;
    +} rightBusInit_t;
    +
    +#define RTIOC_TYPE_SMT RTDM_CLASS_EXPERIMENTAL
    +
    +#define RTSMT_RTIOC_INIT _IOR(RTIOC_TYPE_SMT, 0x00, rightBusInit_t)
    +//#define RTSMT_RTIOC_CLEAN _IOR(RTIOC_TYPE_SMT, 0x01, int)
    +#define RTSMT_RTIOC_READ _IOR(RTIOC_TYPE_SMT, 0x02, rightReadBuf_t)
    +#define RTSMT_RTIOC_WRITE _IOR(RTIOC_TYPE_SMT, 0x03, rightWriteBuf_t)
    +
    +static rightReadBuf_t rightReadBuf;
    +static rightWriteBuf_t rightWriteBuf;
    +static rightBusInit_t rightBusInit;
    +
    +static int rightbusfd = -1;
    +
    +/* XXX TODO #include "smarteh.h" */
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_Right_init.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,26 @@
    +#define DEVICEFILENAME "rightbus"
    +
    +bzero(&rightReadBuf, sizeof(rightReadBuf_t));
    +bzero(&rightWriteBuf, sizeof(rightWriteBuf_t));
    +bzero(&rightBusInit, sizeof(rightBusInit_t));
    +
    +rightBusInit.common_ticktime__ = common_ticktime__;
    +
    +#define rightI2CMod (rightBusInit.rightI2CMod)
    +%(init_code)s
    +
    +int err;
    +rightbusfd = rt_dev_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);
    +if (err) {
    + printf("error while RTSMT_RTIOC_INIT, %%s\\n",
    + strerror(-err));
    + rt_dev_close(rightbusfd);
    + return err;
    +}
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_Right_publish.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,2 @@
    +%(publish_code)s
    +rt_dev_ioctl(rightbusfd, RTSMT_RTIOC_WRITE, &rightWriteBuf);
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/MC9_Right_retrieve.c Thu Jan 22 18:12:42 2015 +0100
    @@ -0,0 +1,2 @@
    +rt_dev_ioctl(rightbusfd, RTSMT_RTIOC_READ, &rightReadBuf);
    +%(retrieve_code)s