lpcmanager

LPCArch : Name product "product" and architecture "arch". LPCBus : rename C code templates to make space for new target, added product/arch bus definitions in LPCBus.py
som6
2019-05-29, Edouard Tisserant
cc123ca10682
Parents 030c244f6e84
Children 94f413797e6c
LPCArch : Name product "product" and architecture "arch". LPCBus : rename C code templates to make space for new target, added product/arch bus definitions in LPCBus.py
34 files changed, 1012 insertions(+), 992 deletions(-)
  • +20 -8
    LPCArch.py
  • +28 -19
    LPCBus.py
  • +0 -8
    LPCBus/MC9_Devices_cleanup.c
  • +0 -576
    LPCBus/MC9_Devices_decl.c
  • +0 -38
    LPCBus/MC9_Devices_init.c
  • +0 -19
    LPCBus/MC9_Devices_publish.c
  • +0 -19
    LPCBus/MC9_Devices_retrieve.c
  • +0 -17
    LPCBus/MC9_OnBoard_cleanup.c
  • +0 -170
    LPCBus/MC9_OnBoard_decl.c
  • +0 -55
    LPCBus/MC9_OnBoard_init.c
  • +0 -6
    LPCBus/MC9_OnBoard_publish.c
  • +0 -6
    LPCBus/MC9_OnBoard_retrieve.c
  • +0 -1
    LPCBus/MC9_Right_cleanup.c
  • +0 -12
    LPCBus/MC9_Right_decl.c
  • +0 -26
    LPCBus/MC9_Right_init.c
  • +0 -2
    LPCBus/MC9_Right_publish.c
  • +0 -2
    LPCBus/MC9_Right_retrieve.c
  • +1 -0
    LPCBus/SOM28_Right_cleanup.c
  • +12 -0
    LPCBus/SOM28_Right_decl.c
  • +26 -0
    LPCBus/SOM28_Right_init.c
  • +2 -0
    LPCBus/SOM28_Right_publish.c
  • +2 -0
    LPCBus/SOM28_Right_retrieve.c
  • +8 -0
    LPCBus/SOM_Devices_cleanup.c
  • +576 -0
    LPCBus/SOM_Devices_decl.c
  • +38 -0
    LPCBus/SOM_Devices_init.c
  • +19 -0
    LPCBus/SOM_Devices_publish.c
  • +19 -0
    LPCBus/SOM_Devices_retrieve.c
  • +17 -0
    LPCBus/SOM_OnBoard_cleanup.c
  • +170 -0
    LPCBus/SOM_OnBoard_decl.c
  • +55 -0
    LPCBus/SOM_OnBoard_init.c
  • +6 -0
    LPCBus/SOM_OnBoard_publish.c
  • +6 -0
    LPCBus/SOM_OnBoard_retrieve.c
  • +6 -7
    LPCExtension.py
  • +1 -1
    LPCManager.py
    • --- a/LPCArch.py Tue May 28 13:21:34 2019 +0200
    +++ b/LPCArch.py Wed May 29 13:42:55 2019 +0200
    @@ -1,15 +1,27 @@
    #!/usr/bin/env python
    # XXX Where is MC8 ?
    -PLC_GOT_modules = ['GOT', 'GOT_111', 'GOT_131']
    -PLC_MC9_modules = ['MC9', 'MW1']
    -SOM28_modules = PLC_MC9_modules + PLC_GOT_modules
    +WX_GOT_modules = ['GOT', 'GOT_111', 'GOT_131']
    +SVG_GOT_modules = ['GOT6']
    +MC9_modules = ['MC9', 'MW1']
    +SOM28_modules = MC9_modules + WX_GOT_modules
    +SOM6_modules = SVG_GOT_modules
    -arch = None
    +product = None
    -def SetLPCArch(given):
    - global arch
    - arch = given
    +def SetLPCProduct(given):
    + global product
    + product = given
    +
    +def GetLPCProduct():
    + return product
    def GetLPCArch():
    - return arch
    + if product in SOM28_modules:
    + bus_template_name = "MC9"
    + elif product in SOM6_modules:
    + bus_template_name = "MC10"
    + elif product is "MC8" :
    + bus_template_name = "MC8"
    + else:
    + bus_template_name = None
    --- a/LPCBus.py Tue May 28 13:21:34 2019 +0200
    +++ b/LPCBus.py Wed May 29 13:42:55 2019 +0200
    @@ -3,31 +3,40 @@
    modpath = os.path.split(__file__)[0]
    -from LPCArch import GetLPCArch, SOM28_modules
    +from LPCArch import GetLPCArch, GetLPCProduct, SOM28_modules
    +
    +product = GetLPCProduct()
    arch = GetLPCArch()
    -if arch in SOM28_modules:
    - bus_template_name = "MC9"
    -else:
    - bus_template_name = arch
    -
    LPCBusSourcePath = os.path.join(modpath,"LPCBus")
    def GetLocalCode(fname):
    return open(os.path.join(LPCBusSourcePath,fname)).read()
    -Busses = [ "Right", "On Board", "Devices" ]
    +# busses available per architecture
    +Busses = {"MC8" :[ ("Right", "uC_Right"),
    + ("On Board", "uC_OnBoard"),
    + ("Devices", "uC_Devices")],
    + "MC9" :[ ("Right", "SOM28_Right"),
    + ("On Board", "SOM_OnBoard"),
    + ("Devices", "SOM_Devices" ],
    + "MC10" :[("On Board", "SOM_OnBoard"),
    + ("Devices", "SOM_Devices" ]}
    -# This matches names of .h files in LPCBus with Arch from LPCArch
    +# This matches names of .h files in LPCBus with product from LPCArch
    headernames = {
    "MC9":"MC9",
    "MW1":"MC9",
    "GOT":"GOT",
    "GOT_131":"GOT100",
    - "GOT_111":"GOT100"
    + "GOT_111":"GOT100",
    + "GOT6":"GOT6"
    }
    -bus_template_code = { plc:GetLocalCode(plc+".c") for plc in ["MC8", "MC9"] }
    +bus_template_code = { plc: GetLocalCode(
    + {"MC8": "uC",
    + "MC9": "SOM",
    + "MC10": "SOM"}[plc]+".c") for plc in Busses.keys()}
    # This is in case some bus has some special LDFLAGS
    @@ -223,16 +232,16 @@
    "publish_code": "",
    }
    - bus_code = { "MC9:%s"%bus :
    + bus_code = { "%s:%s"%(arch, bus_name) :
    { section :
    - header + GetLocalCode("%s_%s_%s.c"%("MC9",''.join(bus.split()),section))
    + header + GetLocalCode("%s_%s.c"%(bus_template,section))
    for section, header in [
    - ("decl",GetLocalCode("%s.h" % headernames[arch])),
    + ("decl",GetLocalCode("%s.h" % headernames[product])),
    ("init", ""),
    ("retrieve", ""),
    ("publish", ""),
    ("cleanup", "")]}
    - for bus in Busses}
    + for bus_name, bus_template in Busses[arch]}
    for module in GetModuleChildren(self):
    if module["init"] != "":
    @@ -279,7 +288,7 @@
    if var["Publish"] != "":
    code_str["publish_code"] += " " + var["Publish"] % ("*" + var["location"]) + "\n"
    - BusName = bus_template_name + ":" + self.BaseParams.getName()
    + BusName = arch + ":" + self.BaseParams.getName()
    def bcode(section):
    @@ -297,12 +306,12 @@
    "bus_publish_code": bcode("publish"),
    })
    - if bus_template_name not in bus_template_code:
    - raise Exception, "Unknown arch %s. Please use %s"%(
    - bus_template_name,repr(bus_template_code.keys()))
    + if arch not in bus_template_code:
    + raise Exception, "Unknown product %s. Please use %s"%(
    + arch,repr(bus_template_code.keys()))
    Gen_Module_path = os.path.join(buildpath, "Bus_%s.c"%location_str)
    module = open(Gen_Module_path,'w')
    - module.write(bus_template_code[bus_template_name] % code_str)
    + module.write(bus_template_code[arch] % code_str)
    module.close()
    cflags = '"-I%s" "-I%s" -Wno-unused-function'%(
    --- a/LPCBus/MC9_Devices_cleanup.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,8 +0,0 @@
    -
    -pthread_mutex_lock(&UART_WakeCondLock);
    -
    -UART_task_active = 0;
    -pthread_cond_signal(&UART_WakeCond);
    -pthread_mutex_unlock(&UART_WakeCondLock);
    -pthread_join(UART_task, NULL);
    -closeserial(UART_fd);
    --- a/LPCBus/MC9_Devices_decl.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,576 +0,0 @@
    -#include <stdio.h>
    -#include <termios.h>
    -#include <unistd.h>
    -#include <sys/ioctl.h>
    -#include <fcntl.h>
    -#include <sys/select.h>
    -
    -#include <alchemy/task.h>
    -#include <alchemy/mutex.h>
    -#include <alchemy/timer.h>
    -
    -#include "beremiz.h"
    -
    -static struct termios oldterminfo;
    -
    -void closeserial(int fd)
    -{
    - tcsetattr(fd, TCSANOW, &oldterminfo);
    - if (close(fd) < 0)
    - perror("closeserial()");
    -}
    -
    -/*--------------------------- Serial Port handling ---------------------------*/
    -
    -int openserial(char *devicename, unsigned long baudrate)
    -{
    - int fd;
    - struct termios attr;
    - speed_t baud = B115200; /* baud rate */
    -
    - switch(baudrate)
    - {
    - case 19200:
    - baud = B19200;
    - break;
    - case 115200:
    - baud = B115200;
    - break;
    - default:
    - baud = B115200;
    - }
    -
    - 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;
    - }
    -
    - return fd;
    -}
    -
    -
    -#define EMPTY 0
    -#define LOCKED 1
    -#define FULL 2
    -
    -#define MAX_UART_DEVICES 32
    -#define UART_BUFSIZE_SHORT 26 /* UART bus read & write buffer size - short buffer for LPC-2 */
    -#define UART_BUFSIZE_LONG 48 /* UART bus read & write buffer size - long buffer for LHC-2 */
    -#define UART_RETRY_NUM 0
    -
    -char uartBufSize = UART_BUFSIZE_SHORT; /* Smarteh uart bus: buffer size */
    -unsigned long uartBaudrate = 19200; /* Smarteh uart bus: baudrate */
    -struct timeval uartTimeout = {0,40000}; /* Smarteh uart bus: timeout */
    -
    -/* Tables containing information about connected devices on UART port
    - (initialized by Composer) */
    -unsigned char uartDev[MAX_UART_DEVICES][2];
    -unsigned char uartDevNum = MAX_UART_DEVICES;
    -
    -/* Buffers for reading data from UART port devices */
    -typedef char uartDevReadBuf_t[MAX_UART_DEVICES][UART_BUFSIZE_LONG];
    -uartDevReadBuf_t uartDevReadBufA;
    -uartDevReadBuf_t uartDevReadBufB;
    -uartDevReadBuf_t *uartDevReadBuf_drv;
    -uartDevReadBuf_t *uartDevReadBuf_plc;
    -/* MC8 compatibility */
    -uartDevReadBuf_t uartDevReadBuf;
    -
    -/* Buffers for writing data to UART port devices */
    -typedef char uartDevWriteBuf_t[MAX_UART_DEVICES][UART_BUFSIZE_LONG];
    -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;
    -
    -/* Buffers for communication statuses with UART port devices */
    -/* 2D arrays due to compatibility with Composer (LpcSmartehIDE) */
    -char uartCommErrCntBuf [MAX_UART_DEVICES][1];
    -char uartCommStatusBuf[MAX_UART_DEVICES][1];
    -
    -/* Function interface definition for modules on UART (RS485) bus */
    -typedef unsigned char (*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 pthread_t UART_task;
    -static pthread_mutex_t UART_WriteMutex = PTHREAD_MUTEX_INITIALIZER;
    -static pthread_mutex_t UART_ReadMutex = PTHREAD_MUTEX_INITIALIZER;
    -static pthread_mutex_t UART_WakeCondLock = PTHREAD_MUTEX_INITIALIZER;
    -static pthread_cond_t UART_WakeCond = PTHREAD_COND_INITIALIZER;
    -static int UART_WakeCondValue = 0;
    -static int UART_task_active;
    -
    -void* UART_task_proc(void *arg)
    -{
    - static unsigned char i=0;
    - char commStat;
    - uint64_t actTime;
    - static uint64_t lastCommTime=0;
    -
    - struct sched_param param = { .sched_priority = 10 };
    - pthread_setname_np(pthread_self(), "UART_task");
    - pthread_setschedparam(pthread_self(), SCHED_FIFO, &param);
    -
    - while (1){
    - int active;
    - pthread_mutex_lock(&UART_WakeCondLock);
    - active = UART_task_active;
    - while(!UART_WakeCondValue && active){
    - pthread_cond_wait(&UART_WakeCond, &UART_WakeCondLock);
    - active = UART_task_active;
    - }
    -
    - UART_WakeCondValue = 0;
    - pthread_mutex_unlock(&UART_WakeCondLock);
    -
    - if(!active)
    - break;
    -
    - // Communicate only with initialised UART devices
    - if(uartPortDevices[i] != NULL)
    - {
    -
    - // Timers for UART port modules
    - if(uartPortTim[i].status != TIM_DISABLED)
    - {
    - struct timespec time_ref;
    - if(clock_gettime(CLOCK_MONOTONIC, &time_ref)){
    - perror("clock_gettime(time_ref)");
    - }
    - actTime = time_ref.tv_nsec + time_ref.tv_sec * 1000000000LL;
    - uartPortTim[i].actValue = actTime - uartPortTim[i].oldTime;
    -
    - if((uartPortTim[i].actValue < uartPortTim[i].toValue)
    - || (actTime - lastCommTime < 50000000))
    - uartPortTim[i].status = TIM_EN_RUNNING;
    - else {
    - uartPortTim[i].status = TIM_EN_EXPIRED;
    - uartPortTim[i].oldTime = actTime;
    - lastCommTime = actTime;
    - }
    - }
    -
    - // Check timer status
    - if((uartPortTim[i].status == TIM_DISABLED)
    - || (uartPortTim[i].status == TIM_EN_EXPIRED))
    - {
    - if(!pthread_mutex_lock(&UART_WriteMutex)){
    - 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;
    - }
    - pthread_mutex_unlock(&UART_WriteMutex);
    - }
    -
    - // Communicate with device
    - commStat = (*uartPortDevices[i])(
    - &uartDevReadBuf[i][0],
    - &uartDevWriteBuf[i][0],
    - uartDev[i][1]);
    -
    - memcpy(uartDevReadBuf_drv, &uartDevReadBuf, sizeof(uartDevReadBuf_t));
    -
    - if(!pthread_mutex_lock(&UART_ReadMutex)){
    - 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;
    - }
    - pthread_mutex_unlock(&UART_ReadMutex);
    - }
    -
    - // Check communication status:
    - if(commStat == TRUE)
    - {
    - uartCommStatusBuf[i][0] = TRUE;
    - uartCommErrCntBuf[i][0] = 0;
    - }
    - else
    - {
    - if(uartCommErrCntBuf[i][0] < UART_RETRY_NUM)
    - uartCommErrCntBuf[i][0]++;
    - else
    - uartCommStatusBuf[i][0] = FALSE;
    - }
    -
    - // 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;
    -
    - // Procede with next UART device only after
    - // communication with the current one is done
    - if(i < (uartDevNum-1))
    - i++;
    - else /* Go back to the first UART device */
    - i=0;
    - }
    - }
    - else i=0;
    - }
    - return NULL;
    -}
    -
    -#define TAIL_LEN 3 /* Length of data tail in bytes */
    -/**************************************************************************//**
    -* Calculate checksum of a buffer
    -* @param [in] buffer Pointer to buffer
    -* @param [in] bufLen Buffer length
    -* @return Checksum values on buffer locations bufLen-TAIL_LEN &
    -* bufLen-TAIL_LEN+1
    -******************************************************************************/
    -void Checksum(unsigned char *buffer, unsigned char bufLen)
    -{
    - unsigned char i=0, j=0;
    - unsigned char checksum1=0, checksum2=0;
    - unsigned char checksum1Temp=0;
    -
    - for(i=0;i<bufLen-TAIL_LEN;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[bufLen-TAIL_LEN] = checksum2; /* Write number of '1' to buffer */
    - buffer[bufLen-TAIL_LEN+1] = checksum1; /* Write XOR to buffer */
    -}
    -
    -/**************************************************************************//**
    -* Check if checksum values of received buffer are valid
    -* @param [in] buffer Pointer to buffer
    -* @param [in] bufLen Buffer length
    -* @return TRUE if valid, otherwise FALSE
    -******************************************************************************/
    -unsigned char ChecksumValid(unsigned char *buffer, unsigned char bufLen)
    -{
    - unsigned char i=0, j=0;
    - unsigned char checksum1=0, checksum2=0;
    - unsigned char checksum1Temp=0;
    -
    - for(i=0;i<bufLen-TAIL_LEN;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];
    - }
    -
    - /* Check if computed checksums are the same as those in buffer (=> no error) */
    - if((checksum2==buffer[bufLen-TAIL_LEN]) && (checksum1==buffer[bufLen-TAIL_LEN+1]))
    - return TRUE;
    - else
    - return FALSE;
    -}
    -
    -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 TRUE if communication was successful, otherwise FALSE
    -*****************************************************************************/
    -unsigned char UARTDevice(char* readBuf, char* writeBuf, char address)
    -{
    - fd_set set;
    - struct timeval timeout;
    - int rv;
    - int count = 0;
    - char tmp[uartBufSize];
    -
    - /* Prepare transmit buffer */
    - memcpy(tmp+1,writeBuf,uartBufSize-TAIL_LEN-1);
    - tmp[0] = 'S';
    - tmp[uartBufSize-TAIL_LEN] = address;
    - Checksum((unsigned char*)tmp+1, uartBufSize);
    -
    - tcflush(UART_fd, TCIOFLUSH);
    -
    - if(write(UART_fd, tmp, uartBufSize) != uartBufSize){
    - goto UARTDevfail;
    - }
    -
    - FD_ZERO(&set); /* clear the set */
    - FD_SET(UART_fd, &set); /* add our file descriptor to the set */
    -
    - timeout.tv_sec = uartTimeout.tv_sec;
    - timeout.tv_usec = uartTimeout.tv_usec;
    -
    - while(count < uartBufSize){
    - 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, uartBufSize - count);
    - if(rr > 0){
    - count += rr;
    - }else{
    - printf("RS485 read error %%d\n",rr);
    - }
    - }
    - }
    -
    - /* Copy received buffer */
    - if((count == uartBufSize) && (tmp[uartBufSize-TAIL_LEN] == address)){
    - if(ChecksumValid((unsigned char*)tmp+1, uartBufSize)){
    - memcpy(readBuf,tmp+1,uartBufSize-TAIL_LEN-1);
    - return(TRUE);
    - }
    - }
    -
    - UARTDevfail:
    - tcflush(UART_fd, TCIOFLUSH);
    - return(FALSE);
    -}
    -
    -/* Macro to transform milliseconds to ns */
    -#define msTOns(ms) (1000000L*ms)
    -
    -void InitUartPortDevices_longBuffer(void)
    -{
    - unsigned char i=0;
    -
    - uartTimeout.tv_sec = 0;
    - uartTimeout.tv_usec = 20000; /* 20 ms timeout */
    -
    - 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):
    - case(82): /* MU4 */
    - case(84):
    - case(86):
    - case(88):
    - case(90): /* MU5 */
    - case(92):
    - case(94):
    - case(96):
    - case(98): /* MU6 */
    - case(100):
    - case(102):
    - case(104):
    - case(106): /* M4U */
    - case(108):
    - case(110):
    - case(112):
    - case(114): /* TH1 */
    - case(116):
    - case(118):
    - case(120):
    - case(122):
    - case(124):
    - case(126):
    - case(128):
    - case(130):
    - case(132):
    - case(134):
    - case(136):
    - uartPortDevices[i] = &UARTDevice;
    - uartPortTim[i].toValue = msTOns(50); /* 50ms */
    - uartPortTim[i].status = TIM_EN_RUNNING;
    - break;
    - case(240): /* 240-254 are reserved for EEPROM settings */
    - case(242):
    - case(244):
    - case(246):
    - case(248):
    - case(250):
    - case(252):
    - case(254):
    - default:
    - uartPortDevices[i] = NULL; /* "Empty" or unknown module */
    - uartPortTim[i].status = TIM_DISABLED;
    - uartDevNum--; /* Substract unused devices from MAX_UART_DEVICES */
    - break;
    - }
    - }
    -}
    -
    -void InitUartPortDevices_shortBuffer(void)
    -{
    - unsigned char i=0;
    -
    - uartTimeout.tv_sec = 0;
    - uartTimeout.tv_usec = 40000; /* 40 ms timeout */
    -
    - for(i=0;i<MAX_UART_DEVICES;i++)
    - {
    - switch(uartDev[i][1])
    - {
    - case(114): /* U0x */
    - case(116):
    - case(118):
    - case(120):
    - case(122):
    - case(124):
    - case(126):
    - case(128):
    - 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(178): /* AQ1, SM1, SM5, SM6, SM7 */
    - case(180):
    - case(182):
    - case(184):
    - case(186): /* TH1V */
    - case(188):
    - case(190):
    - case(192):
    - uartPortDevices[i] = &UARTDevice;
    - uartPortTim[i].toValue = msTOns(250); /* 250ms */
    - uartPortTim[i].status = TIM_EN_RUNNING;
    - break;
    - case(146): /* CH1 */
    - case(148):
    - case(150):
    - case(152):
    - uartPortDevices[i] = &UARTDevice;
    - uartPortTim[i].toValue = msTOns(650); /* 650ms */
    - uartPortTim[i].status = TIM_EN_RUNNING;
    - break;
    - case(170): /* ID1, ID2, ID3 */
    - case(172):
    - case(174):
    - case(176):
    - 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):
    - case(226): /* WP1 */
    - case(228):
    - case(230):
    - case(232):
    - case(234): /* WP2 */
    - case(236):
    - case(238):
    - case(240):
    - case(242): /* WT1 */
    - case(244):
    - case(246):
    - case(248):
    - uartPortDevices[i] = &UARTDevice;
    - uartPortTim[i].toValue = msTOns(450); /* 450ms */
    - uartPortTim[i].status = TIM_EN_RUNNING;
    - break;
    - default:
    - uartPortDevices[i] = NULL; /* "Empty" or unknown module */
    - uartPortTim[i].status = TIM_DISABLED;
    - break;
    - }
    - }
    -}
    --- a/LPCBus/MC9_Devices_init.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,38 +0,0 @@
    -int err;
    -char *serialdev = "/dev/ttyAPP1";
    -
    -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;
    -
    -bzero(&uartCommStatusBuf, sizeof(uartCommStatusBuf));
    -bzero(&uartCommErrCntBuf, sizeof(uartCommErrCntBuf));
    -
    -%(init_code)s
    -
    -UART_fd = openserial(serialdev, uartBaudrate); /* uartBaudrate is initialized from Composer */
    -if (!UART_fd) {
    - fprintf(stderr, "Error while initializing %%s.\n", serialdev);
    - return 1;
    -}
    -
    -if(uartBufSize == UART_BUFSIZE_LONG) /* uartBufSize is initialized from Composer */
    - InitUartPortDevices_longBuffer();
    -else
    - InitUartPortDevices_shortBuffer();
    -
    -UART_task_active = 1;
    -
    -if(err = pthread_create(&UART_task, NULL, &UART_task_proc, NULL));
    - return err;
    -
    --- a/LPCBus/MC9_Devices_publish.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,19 +0,0 @@
    -if(!pthread_mutex_lock(&UART_WriteMutex)){
    -
    - int prevstate;
    - prevstate=uartDevWriteBuf_plc_state;
    - uartDevWriteBuf_plc_state = LOCKED;
    -
    - pthread_mutex_unlock(&UART_WriteMutex);
    -
    -%(publish_code)s
    -
    - /* unlock plc buffer */
    - uartDevWriteBuf_plc_state = FULL;
    -
    - /* wakeup task */
    - pthread_mutex_lock(&UART_WakeCondLock);
    - UART_WakeCondValue = 1;
    - pthread_cond_signal(&UART_WakeCond);
    - pthread_mutex_unlock(&UART_WakeCondLock);
    -}
    --- a/LPCBus/MC9_Devices_retrieve.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,19 +0,0 @@
    -if(!pthread_mutex_lock(&UART_ReadMutex)){
    -
    - int prevstate;
    - if((prevstate=uartDevReadBuf_plc_state) == FULL){
    - uartDevReadBuf_plc_state = LOCKED;
    - }
    -
    - pthread_mutex_unlock(&UART_ReadMutex);
    -
    - if(prevstate == FULL){
    -
    -%(retrieve_code)s
    -
    - /* unlock plc buffer */
    - uartDevReadBuf_plc_state = EMPTY;
    - }else{
    - /* No new data -> no update */
    - }
    -}
    --- a/LPCBus/MC9_OnBoard_cleanup.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,17 +0,0 @@
    -#ifdef ONBOARD_I2C
    -if(onboardbusfd!=-1)
    - close(onboardbusfd);
    -#endif /* ONBOARD_I2C */
    -
    -#ifdef CAN0_EN_GPIO_0_21
    -gpio_set_pin_value(CAN0_EN_dev, 1);
    -gpio_close(CAN0_EN_dev);
    -#endif /* CAN0_EN_GPIO_0_21 */
    -
    -#ifdef CAN1_EN_GPIO_0_17
    -gpio_set_pin_value(CAN1_EN_dev, 1);
    -gpio_close(CAN1_EN_dev);
    -#endif /* CAN1_EN_GPIO_0_17 */
    -
    -gpio_set_pin_value(RUN_LED_dev, 1);
    -gpio_close(RUN_LED_dev);
    --- a/LPCBus/MC9_OnBoard_decl.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,170 +0,0 @@
    -#include <unistd.h>
    -#include <fcntl.h>
    -#include <rtdm/rtdm.h>
    -#include "beremiz.h"
    -
    -/*------------------------- 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 *RUN_LED_dev;
    -#ifdef CAN0_EN_GPIO_0_21
    -struct gpio_device *CAN0_EN_dev;
    -#endif /* CAN0_EN_GPIO_0_21 */
    -#ifdef CAN1_EN_GPIO_0_17
    -struct gpio_device *CAN1_EN_dev;
    -#endif /* CAN1_EN_GPIO_0_17 */
    -
    -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 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;
    -}
    -
    -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;
    -
    - gpio_set_pin_value(dev, 1);
    -
    - 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;
    -}
    -
    -/* TODO : DELETE !... but keep this until composer stops sending code snippets for mbrtu */
    -typedef enum
    -{
    - MB_PAR_ODD = 0, /**< ODD parity. */
    - MB_PAR_EVEN = 1, /**< Even parity. */
    - MB_PAR_NONE = 2 /**< No parity. */
    -} eMBSerialParity;
    -unsigned long mbBaudRate = 115200; /**< Modbus baud-rate setting: 9600, 19200, 38400, 57600, 115200 */
    -eMBSerialParity mbParity = MB_PAR_NONE; /**< Modbus parity setting: odd, even, none */
    -
    -#ifdef ONBOARD_I2C
    -
    -#include "rt_imx_smt_onboard.h"
    -
    -static readBuf_t onBoardReadBuf;
    -static writeBuf_t onBoardWriteBuf;
    -static busInit_t onBoardBusInit;
    -
    -static int onboardbusfd = -1;
    -#endif /* ONBOARD_I2C */
    --- a/LPCBus/MC9_OnBoard_init.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,55 +0,0 @@
    -#define ONBOARDDEVFILENAME "/dev/rtdm/onboard"
    -
    -int err;
    -
    -#ifdef ONBOARD_I2C
    -bzero(&onBoardReadBuf , sizeof(readBuf_t));
    -bzero(&onBoardWriteBuf, sizeof(writeBuf_t));
    -bzero(&onBoardBusInit , sizeof(busInit_t));
    -
    -onBoardBusInit.common_ticktime__ = common_ticktime__;
    -#define onBoardDev (onBoardBusInit.rightI2CMod)
    -#endif /* ONBOARD_I2C */
    -
    -%(init_code)s
    -
    -#ifdef CAN0_EN_GPIO_0_21
    -CAN0_EN_dev = gpio_open(21);
    -gpio_set_pin_value(CAN0_EN_dev, 0);
    -#endif /* CAN0_EN_GPIO_0_21 */
    -#ifdef CAN1_EN_GPIO_0_17
    -CAN1_EN_dev = gpio_open(17);
    -gpio_set_pin_value(CAN1_EN_dev, 0);
    -#endif /* CAN1_EN_GPIO_0_17 */
    -
    -#ifdef ONBOARD_I2C
    -unsigned char i;
    -for(i=0; i<MAX_RIGHT_MODULES; i++) {
    - switch(onBoardDev[i][1]) {
    - case 1:
    - /* OnBoard I2C bus */
    - onboardbusfd = open(ONBOARDDEVFILENAME, 0);
    - if(onboardbusfd < 0) {
    - printf("can't open %%s rtdm device, %%s\n", ONBOARDDEVFILENAME,
    - strerror(-onboardbusfd));
    - return onboardbusfd;
    - }
    - err = ioctl(onboardbusfd, RTSMT_RTIOC_INIT, &onBoardBusInit);
    - if(err) {
    - printf("error while RTSMT_RTIOC_INIT, %%s\n", strerror(-err));
    - close(onboardbusfd);
    - return err;
    - }
    - break;
    - default:
    - break;
    - }
    -}
    -#endif /* ONBOARD_I2C */
    -
    -#if defined RUN_LED_GPIO_1_13
    -RUN_LED_dev = gpio_open(45);
    -#elif defined RUN_LED_GPIO_1_31
    -RUN_LED_dev = gpio_open(63);
    -#endif /* RUN LED GPIO_1_13/GPIO_1_31 */
    -gpio_set_pin_value(RUN_LED_dev, 0);
    --- a/LPCBus/MC9_OnBoard_publish.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,6 +0,0 @@
    -%(publish_code)s
    -
    -#ifdef ONBOARD_I2C
    -if(onboardbusfd!=-1)
    - ioctl(onboardbusfd, RTSMT_RTIOC_WRITE, &onBoardWriteBuf);
    -#endif /* ONBOARD_I2C */
    --- a/LPCBus/MC9_OnBoard_retrieve.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,6 +0,0 @@
    -#ifdef ONBOARD_I2C
    -if(onboardbusfd!=-1)
    - ioctl(onboardbusfd, RTSMT_RTIOC_READ, &onBoardReadBuf);
    -#endif /* ONBOARD_I2C */
    -
    -%(retrieve_code)s
    --- a/LPCBus/MC9_Right_cleanup.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,1 +0,0 @@
    -close(rightbusfd);
    --- a/LPCBus/MC9_Right_decl.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,12 +0,0 @@
    -
    -#include <rtdm/rtdm.h>
    -#include "beremiz.h"
    -#include "rt_imx_smt_right.h"
    -
    -static readBuf_t rightReadBuf;
    -static writeBuf_t rightWriteBuf;
    -static busInit_t rightBusInit;
    -
    -static int rightbusfd = -1;
    -
    -/* XXX TODO #include "smarteh.h" */
    --- a/LPCBus/MC9_Right_init.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,26 +0,0 @@
    -#define DEVICEFILENAME "/dev/rtdm/rightbus"
    -
    -bzero(&rightReadBuf, sizeof(readBuf_t));
    -bzero(&rightWriteBuf, sizeof(writeBuf_t));
    -bzero(&rightBusInit, sizeof(busInit_t));
    -
    -rightBusInit.common_ticktime__ = common_ticktime__;
    -
    -#define rightI2CMod (rightBusInit.rightI2CMod)
    -%(init_code)s
    -
    -int err;
    -rightbusfd = open( DEVICEFILENAME, 0);
    -if (rightbusfd < 0) {
    - printf("can't open %%s rtdm device, %%s\\n", DEVICEFILENAME,
    - strerror(-rightbusfd));
    - return rightbusfd;
    -}
    -
    -err = ioctl(rightbusfd, RTSMT_RTIOC_INIT, &rightBusInit);
    -if (err) {
    - printf("error while RTSMT_RTIOC_INIT, %%s\\n",
    - strerror(-err));
    - close(rightbusfd);
    - return err;
    -}
    --- a/LPCBus/MC9_Right_publish.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,2 +0,0 @@
    -%(publish_code)s
    -ioctl(rightbusfd, RTSMT_RTIOC_WRITE, &rightWriteBuf);
    --- a/LPCBus/MC9_Right_retrieve.c Tue May 28 13:21:34 2019 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,2 +0,0 @@
    -ioctl(rightbusfd, RTSMT_RTIOC_READ, &rightReadBuf);
    -%(retrieve_code)s
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM28_Right_cleanup.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,1 @@
    +close(rightbusfd);
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM28_Right_decl.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,12 @@
    +
    +#include <rtdm/rtdm.h>
    +#include "beremiz.h"
    +#include "rt_imx_smt_right.h"
    +
    +static readBuf_t rightReadBuf;
    +static writeBuf_t rightWriteBuf;
    +static busInit_t rightBusInit;
    +
    +static int rightbusfd = -1;
    +
    +/* XXX TODO #include "smarteh.h" */
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM28_Right_init.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,26 @@
    +#define DEVICEFILENAME "/dev/rtdm/rightbus"
    +
    +bzero(&rightReadBuf, sizeof(readBuf_t));
    +bzero(&rightWriteBuf, sizeof(writeBuf_t));
    +bzero(&rightBusInit, sizeof(busInit_t));
    +
    +rightBusInit.common_ticktime__ = common_ticktime__;
    +
    +#define rightI2CMod (rightBusInit.rightI2CMod)
    +%(init_code)s
    +
    +int err;
    +rightbusfd = open( DEVICEFILENAME, 0);
    +if (rightbusfd < 0) {
    + printf("can't open %%s rtdm device, %%s\\n", DEVICEFILENAME,
    + strerror(-rightbusfd));
    + return rightbusfd;
    +}
    +
    +err = ioctl(rightbusfd, RTSMT_RTIOC_INIT, &rightBusInit);
    +if (err) {
    + printf("error while RTSMT_RTIOC_INIT, %%s\\n",
    + strerror(-err));
    + close(rightbusfd);
    + return err;
    +}
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM28_Right_publish.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,2 @@
    +%(publish_code)s
    +ioctl(rightbusfd, RTSMT_RTIOC_WRITE, &rightWriteBuf);
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM28_Right_retrieve.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,2 @@
    +ioctl(rightbusfd, RTSMT_RTIOC_READ, &rightReadBuf);
    +%(retrieve_code)s
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM_Devices_cleanup.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,8 @@
    +
    +pthread_mutex_lock(&UART_WakeCondLock);
    +
    +UART_task_active = 0;
    +pthread_cond_signal(&UART_WakeCond);
    +pthread_mutex_unlock(&UART_WakeCondLock);
    +pthread_join(UART_task, NULL);
    +closeserial(UART_fd);
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM_Devices_decl.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,576 @@
    +#include <stdio.h>
    +#include <termios.h>
    +#include <unistd.h>
    +#include <sys/ioctl.h>
    +#include <fcntl.h>
    +#include <sys/select.h>
    +
    +#include <alchemy/task.h>
    +#include <alchemy/mutex.h>
    +#include <alchemy/timer.h>
    +
    +#include "beremiz.h"
    +
    +static struct termios oldterminfo;
    +
    +void closeserial(int fd)
    +{
    + tcsetattr(fd, TCSANOW, &oldterminfo);
    + if (close(fd) < 0)
    + perror("closeserial()");
    +}
    +
    +/*--------------------------- Serial Port handling ---------------------------*/
    +
    +int openserial(char *devicename, unsigned long baudrate)
    +{
    + int fd;
    + struct termios attr;
    + speed_t baud = B115200; /* baud rate */
    +
    + switch(baudrate)
    + {
    + case 19200:
    + baud = B19200;
    + break;
    + case 115200:
    + baud = B115200;
    + break;
    + default:
    + baud = B115200;
    + }
    +
    + 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;
    + }
    +
    + return fd;
    +}
    +
    +
    +#define EMPTY 0
    +#define LOCKED 1
    +#define FULL 2
    +
    +#define MAX_UART_DEVICES 32
    +#define UART_BUFSIZE_SHORT 26 /* UART bus read & write buffer size - short buffer for LPC-2 */
    +#define UART_BUFSIZE_LONG 48 /* UART bus read & write buffer size - long buffer for LHC-2 */
    +#define UART_RETRY_NUM 0
    +
    +char uartBufSize = UART_BUFSIZE_SHORT; /* Smarteh uart bus: buffer size */
    +unsigned long uartBaudrate = 19200; /* Smarteh uart bus: baudrate */
    +struct timeval uartTimeout = {0,40000}; /* Smarteh uart bus: timeout */
    +
    +/* Tables containing information about connected devices on UART port
    + (initialized by Composer) */
    +unsigned char uartDev[MAX_UART_DEVICES][2];
    +unsigned char uartDevNum = MAX_UART_DEVICES;
    +
    +/* Buffers for reading data from UART port devices */
    +typedef char uartDevReadBuf_t[MAX_UART_DEVICES][UART_BUFSIZE_LONG];
    +uartDevReadBuf_t uartDevReadBufA;
    +uartDevReadBuf_t uartDevReadBufB;
    +uartDevReadBuf_t *uartDevReadBuf_drv;
    +uartDevReadBuf_t *uartDevReadBuf_plc;
    +/* MC8 compatibility */
    +uartDevReadBuf_t uartDevReadBuf;
    +
    +/* Buffers for writing data to UART port devices */
    +typedef char uartDevWriteBuf_t[MAX_UART_DEVICES][UART_BUFSIZE_LONG];
    +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;
    +
    +/* Buffers for communication statuses with UART port devices */
    +/* 2D arrays due to compatibility with Composer (LpcSmartehIDE) */
    +char uartCommErrCntBuf [MAX_UART_DEVICES][1];
    +char uartCommStatusBuf[MAX_UART_DEVICES][1];
    +
    +/* Function interface definition for modules on UART (RS485) bus */
    +typedef unsigned char (*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 pthread_t UART_task;
    +static pthread_mutex_t UART_WriteMutex = PTHREAD_MUTEX_INITIALIZER;
    +static pthread_mutex_t UART_ReadMutex = PTHREAD_MUTEX_INITIALIZER;
    +static pthread_mutex_t UART_WakeCondLock = PTHREAD_MUTEX_INITIALIZER;
    +static pthread_cond_t UART_WakeCond = PTHREAD_COND_INITIALIZER;
    +static int UART_WakeCondValue = 0;
    +static int UART_task_active;
    +
    +void* UART_task_proc(void *arg)
    +{
    + static unsigned char i=0;
    + char commStat;
    + uint64_t actTime;
    + static uint64_t lastCommTime=0;
    +
    + struct sched_param param = { .sched_priority = 10 };
    + pthread_setname_np(pthread_self(), "UART_task");
    + pthread_setschedparam(pthread_self(), SCHED_FIFO, &param);
    +
    + while (1){
    + int active;
    + pthread_mutex_lock(&UART_WakeCondLock);
    + active = UART_task_active;
    + while(!UART_WakeCondValue && active){
    + pthread_cond_wait(&UART_WakeCond, &UART_WakeCondLock);
    + active = UART_task_active;
    + }
    +
    + UART_WakeCondValue = 0;
    + pthread_mutex_unlock(&UART_WakeCondLock);
    +
    + if(!active)
    + break;
    +
    + // Communicate only with initialised UART devices
    + if(uartPortDevices[i] != NULL)
    + {
    +
    + // Timers for UART port modules
    + if(uartPortTim[i].status != TIM_DISABLED)
    + {
    + struct timespec time_ref;
    + if(clock_gettime(CLOCK_MONOTONIC, &time_ref)){
    + perror("clock_gettime(time_ref)");
    + }
    + actTime = time_ref.tv_nsec + time_ref.tv_sec * 1000000000LL;
    + uartPortTim[i].actValue = actTime - uartPortTim[i].oldTime;
    +
    + if((uartPortTim[i].actValue < uartPortTim[i].toValue)
    + || (actTime - lastCommTime < 50000000))
    + uartPortTim[i].status = TIM_EN_RUNNING;
    + else {
    + uartPortTim[i].status = TIM_EN_EXPIRED;
    + uartPortTim[i].oldTime = actTime;
    + lastCommTime = actTime;
    + }
    + }
    +
    + // Check timer status
    + if((uartPortTim[i].status == TIM_DISABLED)
    + || (uartPortTim[i].status == TIM_EN_EXPIRED))
    + {
    + if(!pthread_mutex_lock(&UART_WriteMutex)){
    + 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;
    + }
    + pthread_mutex_unlock(&UART_WriteMutex);
    + }
    +
    + // Communicate with device
    + commStat = (*uartPortDevices[i])(
    + &uartDevReadBuf[i][0],
    + &uartDevWriteBuf[i][0],
    + uartDev[i][1]);
    +
    + memcpy(uartDevReadBuf_drv, &uartDevReadBuf, sizeof(uartDevReadBuf_t));
    +
    + if(!pthread_mutex_lock(&UART_ReadMutex)){
    + 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;
    + }
    + pthread_mutex_unlock(&UART_ReadMutex);
    + }
    +
    + // Check communication status:
    + if(commStat == TRUE)
    + {
    + uartCommStatusBuf[i][0] = TRUE;
    + uartCommErrCntBuf[i][0] = 0;
    + }
    + else
    + {
    + if(uartCommErrCntBuf[i][0] < UART_RETRY_NUM)
    + uartCommErrCntBuf[i][0]++;
    + else
    + uartCommStatusBuf[i][0] = FALSE;
    + }
    +
    + // 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;
    +
    + // Procede with next UART device only after
    + // communication with the current one is done
    + if(i < (uartDevNum-1))
    + i++;
    + else /* Go back to the first UART device */
    + i=0;
    + }
    + }
    + else i=0;
    + }
    + return NULL;
    +}
    +
    +#define TAIL_LEN 3 /* Length of data tail in bytes */
    +/**************************************************************************//**
    +* Calculate checksum of a buffer
    +* @param [in] buffer Pointer to buffer
    +* @param [in] bufLen Buffer length
    +* @return Checksum values on buffer locations bufLen-TAIL_LEN &
    +* bufLen-TAIL_LEN+1
    +******************************************************************************/
    +void Checksum(unsigned char *buffer, unsigned char bufLen)
    +{
    + unsigned char i=0, j=0;
    + unsigned char checksum1=0, checksum2=0;
    + unsigned char checksum1Temp=0;
    +
    + for(i=0;i<bufLen-TAIL_LEN;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[bufLen-TAIL_LEN] = checksum2; /* Write number of '1' to buffer */
    + buffer[bufLen-TAIL_LEN+1] = checksum1; /* Write XOR to buffer */
    +}
    +
    +/**************************************************************************//**
    +* Check if checksum values of received buffer are valid
    +* @param [in] buffer Pointer to buffer
    +* @param [in] bufLen Buffer length
    +* @return TRUE if valid, otherwise FALSE
    +******************************************************************************/
    +unsigned char ChecksumValid(unsigned char *buffer, unsigned char bufLen)
    +{
    + unsigned char i=0, j=0;
    + unsigned char checksum1=0, checksum2=0;
    + unsigned char checksum1Temp=0;
    +
    + for(i=0;i<bufLen-TAIL_LEN;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];
    + }
    +
    + /* Check if computed checksums are the same as those in buffer (=> no error) */
    + if((checksum2==buffer[bufLen-TAIL_LEN]) && (checksum1==buffer[bufLen-TAIL_LEN+1]))
    + return TRUE;
    + else
    + return FALSE;
    +}
    +
    +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 TRUE if communication was successful, otherwise FALSE
    +*****************************************************************************/
    +unsigned char UARTDevice(char* readBuf, char* writeBuf, char address)
    +{
    + fd_set set;
    + struct timeval timeout;
    + int rv;
    + int count = 0;
    + char tmp[uartBufSize];
    +
    + /* Prepare transmit buffer */
    + memcpy(tmp+1,writeBuf,uartBufSize-TAIL_LEN-1);
    + tmp[0] = 'S';
    + tmp[uartBufSize-TAIL_LEN] = address;
    + Checksum((unsigned char*)tmp+1, uartBufSize);
    +
    + tcflush(UART_fd, TCIOFLUSH);
    +
    + if(write(UART_fd, tmp, uartBufSize) != uartBufSize){
    + goto UARTDevfail;
    + }
    +
    + FD_ZERO(&set); /* clear the set */
    + FD_SET(UART_fd, &set); /* add our file descriptor to the set */
    +
    + timeout.tv_sec = uartTimeout.tv_sec;
    + timeout.tv_usec = uartTimeout.tv_usec;
    +
    + while(count < uartBufSize){
    + 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, uartBufSize - count);
    + if(rr > 0){
    + count += rr;
    + }else{
    + printf("RS485 read error %%d\n",rr);
    + }
    + }
    + }
    +
    + /* Copy received buffer */
    + if((count == uartBufSize) && (tmp[uartBufSize-TAIL_LEN] == address)){
    + if(ChecksumValid((unsigned char*)tmp+1, uartBufSize)){
    + memcpy(readBuf,tmp+1,uartBufSize-TAIL_LEN-1);
    + return(TRUE);
    + }
    + }
    +
    + UARTDevfail:
    + tcflush(UART_fd, TCIOFLUSH);
    + return(FALSE);
    +}
    +
    +/* Macro to transform milliseconds to ns */
    +#define msTOns(ms) (1000000L*ms)
    +
    +void InitUartPortDevices_longBuffer(void)
    +{
    + unsigned char i=0;
    +
    + uartTimeout.tv_sec = 0;
    + uartTimeout.tv_usec = 20000; /* 20 ms timeout */
    +
    + 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):
    + case(82): /* MU4 */
    + case(84):
    + case(86):
    + case(88):
    + case(90): /* MU5 */
    + case(92):
    + case(94):
    + case(96):
    + case(98): /* MU6 */
    + case(100):
    + case(102):
    + case(104):
    + case(106): /* M4U */
    + case(108):
    + case(110):
    + case(112):
    + case(114): /* TH1 */
    + case(116):
    + case(118):
    + case(120):
    + case(122):
    + case(124):
    + case(126):
    + case(128):
    + case(130):
    + case(132):
    + case(134):
    + case(136):
    + uartPortDevices[i] = &UARTDevice;
    + uartPortTim[i].toValue = msTOns(50); /* 50ms */
    + uartPortTim[i].status = TIM_EN_RUNNING;
    + break;
    + case(240): /* 240-254 are reserved for EEPROM settings */
    + case(242):
    + case(244):
    + case(246):
    + case(248):
    + case(250):
    + case(252):
    + case(254):
    + default:
    + uartPortDevices[i] = NULL; /* "Empty" or unknown module */
    + uartPortTim[i].status = TIM_DISABLED;
    + uartDevNum--; /* Substract unused devices from MAX_UART_DEVICES */
    + break;
    + }
    + }
    +}
    +
    +void InitUartPortDevices_shortBuffer(void)
    +{
    + unsigned char i=0;
    +
    + uartTimeout.tv_sec = 0;
    + uartTimeout.tv_usec = 40000; /* 40 ms timeout */
    +
    + for(i=0;i<MAX_UART_DEVICES;i++)
    + {
    + switch(uartDev[i][1])
    + {
    + case(114): /* U0x */
    + case(116):
    + case(118):
    + case(120):
    + case(122):
    + case(124):
    + case(126):
    + case(128):
    + 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(178): /* AQ1, SM1, SM5, SM6, SM7 */
    + case(180):
    + case(182):
    + case(184):
    + case(186): /* TH1V */
    + case(188):
    + case(190):
    + case(192):
    + uartPortDevices[i] = &UARTDevice;
    + uartPortTim[i].toValue = msTOns(250); /* 250ms */
    + uartPortTim[i].status = TIM_EN_RUNNING;
    + break;
    + case(146): /* CH1 */
    + case(148):
    + case(150):
    + case(152):
    + uartPortDevices[i] = &UARTDevice;
    + uartPortTim[i].toValue = msTOns(650); /* 650ms */
    + uartPortTim[i].status = TIM_EN_RUNNING;
    + break;
    + case(170): /* ID1, ID2, ID3 */
    + case(172):
    + case(174):
    + case(176):
    + 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):
    + case(226): /* WP1 */
    + case(228):
    + case(230):
    + case(232):
    + case(234): /* WP2 */
    + case(236):
    + case(238):
    + case(240):
    + case(242): /* WT1 */
    + case(244):
    + case(246):
    + case(248):
    + uartPortDevices[i] = &UARTDevice;
    + uartPortTim[i].toValue = msTOns(450); /* 450ms */
    + 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/SOM_Devices_init.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,38 @@
    +int err;
    +char *serialdev = "/dev/ttyAPP1";
    +
    +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;
    +
    +bzero(&uartCommStatusBuf, sizeof(uartCommStatusBuf));
    +bzero(&uartCommErrCntBuf, sizeof(uartCommErrCntBuf));
    +
    +%(init_code)s
    +
    +UART_fd = openserial(serialdev, uartBaudrate); /* uartBaudrate is initialized from Composer */
    +if (!UART_fd) {
    + fprintf(stderr, "Error while initializing %%s.\n", serialdev);
    + return 1;
    +}
    +
    +if(uartBufSize == UART_BUFSIZE_LONG) /* uartBufSize is initialized from Composer */
    + InitUartPortDevices_longBuffer();
    +else
    + InitUartPortDevices_shortBuffer();
    +
    +UART_task_active = 1;
    +
    +if(err = pthread_create(&UART_task, NULL, &UART_task_proc, NULL));
    + return err;
    +
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM_Devices_publish.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,19 @@
    +if(!pthread_mutex_lock(&UART_WriteMutex)){
    +
    + int prevstate;
    + prevstate=uartDevWriteBuf_plc_state;
    + uartDevWriteBuf_plc_state = LOCKED;
    +
    + pthread_mutex_unlock(&UART_WriteMutex);
    +
    +%(publish_code)s
    +
    + /* unlock plc buffer */
    + uartDevWriteBuf_plc_state = FULL;
    +
    + /* wakeup task */
    + pthread_mutex_lock(&UART_WakeCondLock);
    + UART_WakeCondValue = 1;
    + pthread_cond_signal(&UART_WakeCond);
    + pthread_mutex_unlock(&UART_WakeCondLock);
    +}
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM_Devices_retrieve.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,19 @@
    +if(!pthread_mutex_lock(&UART_ReadMutex)){
    +
    + int prevstate;
    + if((prevstate=uartDevReadBuf_plc_state) == FULL){
    + uartDevReadBuf_plc_state = LOCKED;
    + }
    +
    + pthread_mutex_unlock(&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/SOM_OnBoard_cleanup.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,17 @@
    +#ifdef ONBOARD_I2C
    +if(onboardbusfd!=-1)
    + close(onboardbusfd);
    +#endif /* ONBOARD_I2C */
    +
    +#ifdef CAN0_EN_GPIO_0_21
    +gpio_set_pin_value(CAN0_EN_dev, 1);
    +gpio_close(CAN0_EN_dev);
    +#endif /* CAN0_EN_GPIO_0_21 */
    +
    +#ifdef CAN1_EN_GPIO_0_17
    +gpio_set_pin_value(CAN1_EN_dev, 1);
    +gpio_close(CAN1_EN_dev);
    +#endif /* CAN1_EN_GPIO_0_17 */
    +
    +gpio_set_pin_value(RUN_LED_dev, 1);
    +gpio_close(RUN_LED_dev);
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM_OnBoard_decl.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,170 @@
    +#include <unistd.h>
    +#include <fcntl.h>
    +#include <rtdm/rtdm.h>
    +#include "beremiz.h"
    +
    +/*------------------------- 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 *RUN_LED_dev;
    +#ifdef CAN0_EN_GPIO_0_21
    +struct gpio_device *CAN0_EN_dev;
    +#endif /* CAN0_EN_GPIO_0_21 */
    +#ifdef CAN1_EN_GPIO_0_17
    +struct gpio_device *CAN1_EN_dev;
    +#endif /* CAN1_EN_GPIO_0_17 */
    +
    +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 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;
    +}
    +
    +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;
    +
    + gpio_set_pin_value(dev, 1);
    +
    + 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;
    +}
    +
    +/* TODO : DELETE !... but keep this until composer stops sending code snippets for mbrtu */
    +typedef enum
    +{
    + MB_PAR_ODD = 0, /**< ODD parity. */
    + MB_PAR_EVEN = 1, /**< Even parity. */
    + MB_PAR_NONE = 2 /**< No parity. */
    +} eMBSerialParity;
    +unsigned long mbBaudRate = 115200; /**< Modbus baud-rate setting: 9600, 19200, 38400, 57600, 115200 */
    +eMBSerialParity mbParity = MB_PAR_NONE; /**< Modbus parity setting: odd, even, none */
    +
    +#ifdef ONBOARD_I2C
    +
    +#include "rt_imx_smt_onboard.h"
    +
    +static readBuf_t onBoardReadBuf;
    +static writeBuf_t onBoardWriteBuf;
    +static busInit_t onBoardBusInit;
    +
    +static int onboardbusfd = -1;
    +#endif /* ONBOARD_I2C */
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM_OnBoard_init.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,55 @@
    +#define ONBOARDDEVFILENAME "/dev/rtdm/onboard"
    +
    +int err;
    +
    +#ifdef ONBOARD_I2C
    +bzero(&onBoardReadBuf , sizeof(readBuf_t));
    +bzero(&onBoardWriteBuf, sizeof(writeBuf_t));
    +bzero(&onBoardBusInit , sizeof(busInit_t));
    +
    +onBoardBusInit.common_ticktime__ = common_ticktime__;
    +#define onBoardDev (onBoardBusInit.rightI2CMod)
    +#endif /* ONBOARD_I2C */
    +
    +%(init_code)s
    +
    +#ifdef CAN0_EN_GPIO_0_21
    +CAN0_EN_dev = gpio_open(21);
    +gpio_set_pin_value(CAN0_EN_dev, 0);
    +#endif /* CAN0_EN_GPIO_0_21 */
    +#ifdef CAN1_EN_GPIO_0_17
    +CAN1_EN_dev = gpio_open(17);
    +gpio_set_pin_value(CAN1_EN_dev, 0);
    +#endif /* CAN1_EN_GPIO_0_17 */
    +
    +#ifdef ONBOARD_I2C
    +unsigned char i;
    +for(i=0; i<MAX_RIGHT_MODULES; i++) {
    + switch(onBoardDev[i][1]) {
    + case 1:
    + /* OnBoard I2C bus */
    + onboardbusfd = open(ONBOARDDEVFILENAME, 0);
    + if(onboardbusfd < 0) {
    + printf("can't open %%s rtdm device, %%s\n", ONBOARDDEVFILENAME,
    + strerror(-onboardbusfd));
    + return onboardbusfd;
    + }
    + err = ioctl(onboardbusfd, RTSMT_RTIOC_INIT, &onBoardBusInit);
    + if(err) {
    + printf("error while RTSMT_RTIOC_INIT, %%s\n", strerror(-err));
    + close(onboardbusfd);
    + return err;
    + }
    + break;
    + default:
    + break;
    + }
    +}
    +#endif /* ONBOARD_I2C */
    +
    +#if defined RUN_LED_GPIO_1_13
    +RUN_LED_dev = gpio_open(45);
    +#elif defined RUN_LED_GPIO_1_31
    +RUN_LED_dev = gpio_open(63);
    +#endif /* RUN LED GPIO_1_13/GPIO_1_31 */
    +gpio_set_pin_value(RUN_LED_dev, 0);
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM_OnBoard_publish.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,6 @@
    +%(publish_code)s
    +
    +#ifdef ONBOARD_I2C
    +if(onboardbusfd!=-1)
    + ioctl(onboardbusfd, RTSMT_RTIOC_WRITE, &onBoardWriteBuf);
    +#endif /* ONBOARD_I2C */
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/LPCBus/SOM_OnBoard_retrieve.c Wed May 29 13:42:55 2019 +0200
    @@ -0,0 +1,6 @@
    +#ifdef ONBOARD_I2C
    +if(onboardbusfd!=-1)
    + ioctl(onboardbusfd, RTSMT_RTIOC_READ, &onBoardReadBuf);
    +#endif /* ONBOARD_I2C */
    +
    +%(retrieve_code)s
    --- a/LPCExtension.py Tue May 28 13:21:34 2019 +0200
    +++ b/LPCExtension.py Wed May 29 13:42:55 2019 +0200
    @@ -8,7 +8,7 @@
    import features
    from POULibrary import SimplePOULibraryFactory
    -from LPCArch import arch, PLC_MC9_modules, PLC_GOT_modules
    +from LPCArch import GetLPCProduct, MC9_modules, WX_GOT_modules, SVG_GOT_modules
    # _lpcmanager_path, arch, etc are defined here because
    # globals() of LPCManager.py are passed to extentions
    @@ -18,14 +18,13 @@
    def _poulibpath(name):
    return os.path.join(_lpcmanager_path, 'Pous', "pous"+name+".xml")
    -if arch in PLC_MC9_modules:
    +product = GetLPCProduct()
    +if product in MC9_modules + WX_GOT_modules + SVG_GOT_modules:
    features.libraries += [('Python', 'py_ext.PythonLibrary', True),
    ('RTC', SimplePOULibraryFactory(_poulibpath("RTC")), True)]
    -elif arch in PLC_GOT_modules:
    - features.libraries += [('Python', 'py_ext.PythonLibrary', True),
    - ('RTC', SimplePOULibraryFactory(_poulibpath("RTC")), True),
    - ('GOT', SimplePOULibraryFactory(_poulibpath("GOT")), True)]
    -else:
    + if product in WX_GOT_modules:
    + features.libraries += [('GOT', SimplePOULibraryFactory(_poulibpath("GOT")), True)]
    +else: # MC8 ?
    features.libraries += [('LPC', SimplePOULibraryFactory(_poulibpath("LPC")), True)]
    #
    --- a/LPCManager.py Tue May 28 13:21:34 2019 +0200
    +++ b/LPCManager.py Wed May 29 13:42:55 2019 +0200
    @@ -22,7 +22,7 @@
    # Path of directory containing current python file
    _lpcmanager_path = os.path.split(__file__)[0]
    -from LPCArch import SetLPCArch
    +from LPCArch import SetLPCProduct
    from Beremiz import BeremizIDELauncher
    class LPCManagerLauncher(BeremizIDELauncher):