Support for SPI Slave added

otherio/lib/rt/src/os_linux/rt_io_m_spi_slave.c

+/* 
+ * Proview   Open Source Process Control.
+ * Copyright (C) 2005-2011 SSAB Oxelosund AB.
+ *
+ * This file is part of Proview.
+ *
+ * This program is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU General Public License as 
+ * published by the Free Software Foundation, either version 2 of 
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with Proview. If not, see <http://www.gnu.org/licenses/>
+ *
+ * Linking Proview statically or dynamically with other modules is
+ * making a combined work based on Proview. Thus, the terms and 
+ * conditions of the GNU General Public License cover the whole 
+ * combination.
+ *
+ * In addition, as a special exception, the copyright holders of
+ * Proview give you permission to, from the build function in the
+ * Proview Configurator, combine Proview with modules generated by the
+ * Proview PLC Editor to a PLC program, regardless of the license
+ * terms of these modules. You may copy and distribute the resulting
+ * combined work under the terms of your choice, provided that every 
+ * copy of the combined work is accompanied by a complete copy of 
+ * the source code of Proview (the version used to produce the 
+ * combined work), being distributed under the terms of the GNU 
+ * General Public License plus this exception.
+ */
+
+/* rt_io_m_spi_slave.c -- I/O methods for SPI */
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <linux/types.h>
+#include <linux/spi/spidev.h>
+
+#include "pwr.h"
+#include "pwr_basecomponentclasses.h"
+#include "pwr_otherioclasses.h"
+#include "co_time.h"
+#include "co_cdh.h"
+#include "rt_io_base.h"
+#include "rt_io_bus.h"
+#include "rt_io_card_init.h"
+#include "rt_io_card_close.h"
+#include "rt_io_card_read.h"
+#include "rt_io_card_read.h"
+#include "rt_io_msg.h"
+#include "rt_iom_msg.h"
+
+typedef struct {
+  int fd;
+  int byte_ordering;
+  int float_representation;
+  int input_area_size;
+  int output_area_size;
+  char *input_area;
+  char *output_area;
+  int softlimit_logged;
+  int writeerror_logged;
+  int readerror_logged;
+  __u8 mode;
+} io_sLocalSPI_Slave;
+
+
+static pwr_tStatus IoCardInit( io_tCtx ctx,
+			       io_sAgent *ap,
+			       io_sRack *rp,
+			       io_sCard *cp)
+{
+  io_sLocalSPI_Slave *local;
+  pwr_sClass_SPI_Slave *op = (pwr_sClass_SPI_Slave *)cp->op;
+  unsigned int input_area_offset = 0;
+  unsigned int input_area_chansize = 0;
+  unsigned int output_area_offset = 0;
+  unsigned int output_area_chansize = 0;
+  int sts;
+
+  local = (io_sLocalSPI_Slave *) calloc( 1, sizeof(io_sLocalSPI_Slave));
+  cp->Local = local;
+
+  op->Status = IOM__UDP_INIT;
+
+  local->fd = open( op->Device, O_RDWR);
+  if ( local->fd < 0) {
+      errh_Error( "SPI Slave, unable to open device %s, '%s'", op->Device, cp->Name);
+      op->Status = IOM__SPI_DEVICE;
+      return IO__INITFAIL;
+  }
+
+  sts = ioctl( local->fd, SPI_IOC_RD_MODE, &local->mode);
+  if ( sts < 0) {
+    errh_Error( "SPI Slave, init error errno %d, '%s'", errno, cp->Name);
+    op->Status = IOM__SPI_INIT;
+    return IO__INITFAIL;
+  }
+
+  local->byte_ordering = op->ByteOrdering;
+  
+  io_bus_card_init( ctx, cp, &input_area_offset, &input_area_chansize,
+		    &output_area_offset, &output_area_chansize, local->byte_ordering);
+
+  local->input_area_size = input_area_offset + input_area_chansize;
+  local->output_area_size = output_area_offset + output_area_chansize;
+
+  op->InputAreaSize = local->input_area_size;
+  op->OutputAreaSize = local->output_area_size;
+
+  if ( local->input_area_size > 0)
+    local->input_area = calloc( 1, local->input_area_size);
+  if ( local->output_area_size > 0)
+    local->output_area = calloc( 1, local->output_area_size);
+
+  errh_Info( "Init of SPI Slave '%s'", cp->Name);
+  op->Status = IOM__SPI_NORMAL;
+
+  return IO__SUCCESS;
+}
+
+static pwr_tStatus IoCardClose( io_tCtx ctx,
+			        io_sAgent *ap,
+			        io_sRack *rp,
+			        io_sCard *cp)
+{
+  io_sLocalSPI_Slave *local = (io_sLocalSPI_Slave *)cp->Local;
+
+  close( local->fd);
+
+  if ( local->input_area)
+    free( local->input_area);
+  if ( local->output_area)
+    free( local->output_area);
+  if ( cp->Local)
+    free( cp->Local);
+
+  return IO__SUCCESS;
+}
+
+static pwr_tStatus IoCardRead( io_tCtx ctx,
+			       io_sAgent *ap,
+			       io_sRack	*rp,
+			       io_sCard	*cp)
+{
+  io_sLocalSPI_Slave *local = (io_sLocalSPI_Slave *)cp->Local;
+  pwr_sClass_SPI_Slave *op = (pwr_sClass_SPI_Slave *)cp->op;
+  int sts;
+  
+  sts = read( local->fd, local->input_area, local->input_area_size);
+  if ( sts < 0) {
+    op->ErrorCount++;
+    if ( !local->readerror_logged) {
+      errh_Error( "SPI read error errno %d, '%s'", errno, cp->Name);
+      local->readerror_logged = 1;
+    }
+    op->Status = IOM__SPI_READERROR;
+  }
+  else if ( sts < local->input_area_size) {
+    op->ErrorCount++;
+    if ( !local->readerror_logged) {
+      errh_Error( "SPI read buffer smaller than expected: %d, '%s'", sts, cp->Name);
+      local->readerror_logged = 1;
+    }
+    op->Status = IOM__SPI_READERROR;
+  }
+  else {
+    local->readerror_logged = 0;
+    op->Status = IOM__SPI_NORMAL;
+    io_bus_card_read( ctx, rp, cp, local->input_area, 0, 
+		      local->byte_ordering, pwr_eFloatRepEnum_FloatIEEE);
+  }
+  
+  if ( op->ErrorCount == op->ErrorSoftLimit && !local->softlimit_logged) {
+    errh_Warning( "IO Card ErrorSoftLimit reached, '%s'", cp->Name);
+    local->softlimit_logged = 1;
+  }
+  if ( op->ErrorCount >= op->ErrorHardLimit) {
+    errh_Error( "IO Card ErrorHardLimit reached '%s', IO stopped", cp->Name);
+    ctx->Node->EmergBreakTrue = 1;
+    return IO__ERRDEVICE;
+  }    
+
+  return IO__SUCCESS;
+}
+
+static pwr_tStatus IoCardWrite( io_tCtx ctx,
+				io_sAgent *ap,
+				io_sRack	*rp,
+				io_sCard	*cp)
+{
+  io_sLocalSPI_Slave *local = (io_sLocalSPI_Slave *)cp->Local;
+  pwr_sClass_SPI_Slave *op = (pwr_sClass_SPI_Slave *)cp->op;
+  int sts;
+
+  io_bus_card_write( ctx, cp, local->output_area,
+		     local->byte_ordering, pwr_eFloatRepEnum_FloatIEEE);
+    
+  sts = write( local->fd, local->output_area, local->output_area_size);
+  if ( sts < 0) {
+    op->ErrorCount++;
+    if ( !local->writeerror_logged) {
+      errh_Error( "SPI write error errno %d, '%s'", errno, cp->Name);
+      local->writeerror_logged = 1;
+    }
+    op->Status = IOM__SPI_WRITEERROR;
+  }
+  else if ( sts != local->output_area_size) {
+    op->ErrorCount++;
+    if ( !local->writeerror_logged) {
+      errh_Error( "SPI write buffer unexpected size %d, '%s'", sts, cp->Name);
+      local->writeerror_logged = 1;
+    }
+    op->Status = IOM__SPI_WRITEERROR;
+  }
+  else {
+    local->writeerror_logged = 0;
+    op->Status = IOM__SPI_NORMAL;
+  }
+
+  if ( op->ErrorCount == op->ErrorSoftLimit && !local->softlimit_logged) {
+    errh_Warning( "IO Card ErrorSoftLimit reached, '%s'", cp->Name);
+    local->softlimit_logged = 1;
+  }
+  if ( op->ErrorCount >= op->ErrorHardLimit) {
+    errh_Error( "IO Card ErrorHardLimit reached '%s', IO stopped", cp->Name);
+    ctx->Node->EmergBreakTrue = 1;
+    return IO__ERRDEVICE;
+  }    
+
+  return IO__SUCCESS;
+}
+
+
+/*  Every method should be registred here. */
+
+pwr_dExport pwr_BindIoMethods(SPI_Slave) = {
+  pwr_BindIoMethod(IoCardInit),
+  pwr_BindIoMethod(IoCardClose),
+  pwr_BindIoMethod(IoCardRead),
+  pwr_BindIoMethod(IoCardWrite),
+  pwr_NullMethod
+};

otherio/lib/rt/src/rt_io_otherio.meth

@@ -18,4 +18,5 @@ Hilscher_cifX_Master
 Hilscher_cifX_Module
 USB_Joystick
 UDP_IO
+SPI_Slave
 #endif
\ No newline at end of file

otherio/wbl/mcomp/src/otherio.wb_load

 Volume OtherIO $ClassVolume 0.0.250.10 
   Body SysBody 01-JAN-1970 01:00:00.00
-    Attr NextOix = "_X247"
-    Attr NextCix = "_X26"
+    Attr NextOix = "_X256"
+    Attr NextCix = "_X27"
     Attr NextTix[0] = "_X10"
   EndBody
   Object Type $TypeHier 1 15-NOV-2007 14:35:37.90
@@ -4586,5 +4586,199 @@ Volume OtherIO $ClassVolume 0.0.250.10
         EndBody
       EndObject
     EndObject
+    !/**
+    !  @Version 1.0
+    !  @Group IO
+    !  @Summary Card object for SPI Slave.
+    !  Card object for 	SPI Slave.
+    ! 
+    !  The object is configured as a child to a generic Rack object.
+    ! 
+    !  @b See also
+    !  @classlink BaseIORack basecomponent_baseiorack.html
+    !*/
+    Object SPI_Slave $ClassDef 26 10-JUL-2011 07:17:19.39
+      Body SysBody 10-JUL-2011 07:17:08.04
+        Attr Editor = 0
+        Attr Method = 0
+        Attr Flags = 51280
+      EndBody
+      Object RtBody $ObjBodyDef 1 10-JUL-2011 07:19:29.31
+        Body SysBody 10-JUL-2011 07:17:25.64
+          Attr StructName = "SPI_Slave"
+          Attr NextAix = "_X56"
+        EndBody
+        !/**
+        ! Optional description.
+        !*/
+        Object Description $Attribute 30 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:08.04
+            Attr PgmName = "Description"
+            Attr TypeRef = "pwrs:Type-$String80"
+          EndBody
+        EndObject
+        !/**
+        ! @Summary Process that handles the module. Plc(1), rt_io_comm(2) or application process(4).
+        ! Process that handles the module.
+        ! 
+        ! 1: The module is read by the plc process, and is handled by a specific
+        !    thread in the plc, which is specified in the ThreadObject attribute.
+        ! 2: The module is read by the rt_io_comm process.
+        ! 4: The module is handled by an application program.
+        !*/
+        Object Process $Attribute 31 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:08.04
+            Attr PgmName = "Process"
+            Attr TypeRef = "pwrb:Type-IoProcessMask"
+          EndBody
+        EndObject
+        !/**
+        ! @Summary Plc thread that handles the card.
+        ! The PlcThread object of the plc thread that handles the card.
+        ! The card is read with the scantime of the thread.
+        !*/
+        Object ThreadObject $Attribute 32 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:08.04
+            Attr PgmName = "ThreadObject"
+            Attr TypeRef = "pwrs:Type-$Objid"
+          EndBody
+        EndObject
+        !/**
+        ! Device for the SPI slave.
+        !*/
+        Object Device $Attribute 33 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:08.04
+            Attr PgmName = "Device"
+            Attr TypeRef = "pwrs:Type-$String32"
+          EndBody
+        EndObject
+        !/**
+        ! Byte ordering for slave.
+        !*/
+        Object ByteOrdering $Attribute 38 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:08.04
+            Attr PgmName = "ByteOrdering"
+            Attr TypeRef = "pwrb:Type-ByteOrderingEnum"
+          EndBody
+        EndObject
+        !/**
+        ! Float representation for slave. Not yet implemented.
+        !*/
+        Object FloatRepresentation $Attribute 39 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:08.04
+            Attr PgmName = "FloatRepresentation"
+            Attr Flags = 1040
+            Attr TypeRef = "pwrb:Type-FloatRepEnum"
+          EndBody
+        EndObject
+        !/**
+        ! Status for slave communication.
+        !*/
+        Object Status $Attribute 43 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:08.04
+            Attr PgmName = "Status"
+            Attr Flags = 1024
+            Attr TypeRef = "pwrs:Type-$Status"
+          EndBody
+        EndObject
+        !/**
+        ! Error counter.
+        !*/
+        Object ErrorCount $Attribute 51 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:08.04
+            Attr PgmName = "ErrorCount"
+            Attr Flags = 1024
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        !/**
+        ! Value of the error counter, when a message is sent to the console log.
+        !*/
+        Object ErrorSoftLimit $Attribute 52 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:08.04
+            Attr PgmName = "ErrorSoftLimit"
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        !/**
+        ! Value of the error counter, when all IO handling is aborted.
+        !*/
+        Object ErrorHardLimit $Attribute 53 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:08.04
+            Attr PgmName = "ErrorHardLimit"
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        !/**
+        ! Size of input area, calculated at runtime initialization.
+        !*/
+        Object InputAreaSize $Attribute 54 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:08.04
+            Attr PgmName = "InputAreaSize"
+            Attr Flags = 1024
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        !/**
+        ! Size of output area, calculated at runtime initialization.
+        !*/
+        Object OutputAreaSize $Attribute 55 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:08.04
+            Attr PgmName = "OutputAreaSize"
+            Attr Flags = 1024
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+      EndObject
+      Object IoMethods $RtMethod 248 10-JUL-2011 07:17:08.04
+        Object IoCardInit $Method 249 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:17:59.13
+            Attr MethodName = "SPI_Slave-IoCardInit"
+          EndBody
+        EndObject
+        Object IoCardClose $Method 250 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:18:10.72
+            Attr MethodName = "SPI_Slave-IoCardClose"
+          EndBody
+        EndObject
+        Object IoCardRead $Method 251 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:18:25.24
+            Attr MethodName = "SPI_Slave-IoCardRead"
+          EndBody
+        EndObject
+        Object IoCardWrite $Method 252 10-JUL-2011 07:17:08.04
+          Body SysBody 10-JUL-2011 07:18:33.39
+            Attr MethodName = "SPI_Slave-IoCardWrite"
+          EndBody
+        EndObject
+      EndObject
+      Object ConfiguratorPoson $Menu 253 10-JUL-2011 07:17:08.04
+        Object Pointed $Menu 254 10-JUL-2011 07:17:08.04
+          Object Connect $MenuButton 255 10-JUL-2011 07:17:08.04
+            Body SysBody 10-JUL-2011 07:17:08.04
+              Attr ButtonName = "Connect PlcThread"
+              Attr MethodName = "$Objid-Connect"
+              Attr MethodArguments[0] = "ThreadObject"
+              Attr MethodArguments[1] = "PlcThread"
+              Attr FilterName = "$Objid-IsOkConnect"
+              Attr FilterArguments[0] = "ThreadObject"
+              Attr FilterArguments[1] = "PlcThread"
+            EndBody
+          EndObject
+        EndObject
+      EndObject
+      Object PostCreate $DbCallBack 256 10-JUL-2011 07:17:08.04
+        Body SysBody 10-JUL-2011 07:17:08.04
+          Attr MethodName = "BaseIOCard-PostCreate"
+        EndBody
+      EndObject
+      Object Template SPI_Slave 2154528768 01-JAN-1970 01:00:00.00
+        Body RtBody 10-JUL-2011 07:20:38.66
+          Attr Process = 1
+          Attr ErrorSoftLimit = 50
+          Attr ErrorHardLimit = 100
+        EndBody
+      EndObject
+    EndObject
   EndObject
 EndVolume

src/msg/rt/src/rt_iom_msg.msg

@@ -44,6 +44,11 @@ udp_down	<UDP link is down>					/error
 udp_socket	<UDP create socket error>				/error
 udp_bind	<UDP bind socket error>					/error
 udp_remote	<UDP unknown remote host>				/error
+spi_device	<SPI no such device>					/error
+spi_init	<SPI initialization error>				/error
+spi_normal	<SPI normal operating state>				/info
+spi_readerror	<SPI read error>					/error
+spi_writeerror	<SPI write error>					/error
 .end
 
 

wb/exp/wb/src/pwr_wb_palette.cnf

@@ -329,6 +329,10 @@ palette NavigatorPalette
         class OneWire_AiDevice
         class Maxim_DS18B20
       }
+      menu SPI
+      {
+        class SPI_Slave
+      }
       menu USB
       {
         class USB_Agent