Merge pull request #6 from sittner/machinekit-posix

added posix support (linuxcnc sim target)

Makefile

@@ -1,10 +1,18 @@
-all:
-	$(MAKE) -C src all
+.PHONY: all configure install clean
 
-clean:
-	$(MAKE) -C src realclean
+all: configure
+	@$(MAKE) -C src all
 
-install: all
-	$(MAKE) -C src install-rt install-user
-	$(MAKE) -C examples install-examples
+clean: configure
+	@$(MAKE) -C src clean
+	rm -f config.mk
+
+install: configure
+	@$(MAKE) -C src install
+	@$(MAKE) -C examples install-examples
+
+configure: config.mk
+
+config.mk: configure.mk
+	@$(MAKE) -s -f configure.mk > config.mk
 

configure.mk

@@ -0,0 +1,33 @@
+COMP ?= comp
+
+.PHONY: configure
+configure:
+	@echo "BUILDSYS = $(BUILDSYS)"
+	@echo "KERNELDIR = $(KERNELDIR)"
+	@echo "CC = $(CC)"
+	@echo "RTAI = $(RTAI)"
+	@echo "RTAIDIR = $(RTAIDIR)"
+	@echo "RTFLAGS = $(RTFLAGS)"
+	@echo "KERNELRELEASE = $(KERNELRELEASE)"
+	@echo "EXTRA_CFLAGS = $(EXTRA_CFLAGS)"
+	@echo "USE_RTLIBM = $(USE_RTLIBM)"
+	@echo "EMC2_HOME = $(EMC2_HOME)"
+	@echo "RUN_IN_PLACE = $(RUN_IN_PLACE)"
+	@echo "RTLIBDIR = $(RTLIBDIR)"
+	@echo "LIBDIR = $(LIBDIR)"
+	@echo "prefix = $(prefix)"
+
+# include modinc
+MODINC=$(shell $(COMP) --print-modinc)
+ifeq (, $(MODINC))
+  $(error Unable to get modinc path)
+endif
+
+include $(MODINC)
+
+# dirty workaround to get the RTAI directory
+RTAIINCDIR = $(subst /rtai.h,,$(firstword $(wildcard $(foreach i,$(subst -I,,$(filter -I%,$(RTFLAGS))), $(i)/rtai.h))))
+ifneq ($(RTAIINCDIR),)
+  RTAIDIR = $(realpath $(RTAIINCDIR)/..)
+endif
+

examples/Makefile

@@ -1,9 +1,7 @@
-MODINC=$(shell comp --print-modinc)
+include ../config.mk
 
 SUBDIRS = generic-complex swm-fm45a
 
-include $(MODINC)
-
 install-examples:
 	mkdir -p $(DESTDIR)$(EMC2_HOME)/share/linuxcnc-ethercat/examples
 	cp -R $(SUBDIRS) $(DESTDIR)$(EMC2_HOME)/share/linuxcnc-ethercat/examples

src/Kbuild

@@ -0,0 +1,20 @@
+obj-m += lcec.o
+lcec-objs := \
+    lcec_main.o \
+    lcec_generic.o \
+    lcec_el1xxx.o \
+    lcec_el2521.o \
+    lcec_el2xxx.o \
+    lcec_el31x2.o \
+    lcec_el40x1.o \
+    lcec_el40x2.o \
+    lcec_el41x2.o \
+    lcec_el5101.o \
+    lcec_el5151.o \
+    lcec_el5152.o \
+    lcec_el7342.o \
+    lcec_el95xx.o \
+    lcec_em7004.o \
+    lcec_stmds5k.o \
+    lcec_deasda.o
+

src/Makefile

@@ -1,53 +1,14 @@
-MODINC=$(shell comp --print-modinc)
+.PHONY: all install clean
 
-all: rt user
+all:
+	@$(MAKE) -f user.mk all
+	@$(MAKE) -f realtime.mk all
 
-realclean:
-	rm -f rm *.ko *.mod.c *.o .*.cmd
-	rm -f modules.order Module.symvers
-	rm -rf .tmp_versions
-	rm -f lcec_conf
+install:
+	@$(MAKE) -f user.mk install
+	@$(MAKE) -f realtime.mk install
 
-obj-m += lcec.o
-lcec-objs := \
-    lcec_main.o \
-    lcec_generic.o \
-    lcec_el1xxx.o \
-    lcec_el2521.o \
-    lcec_el2xxx.o \
-    lcec_el31x2.o \
-    lcec_el40x1.o \
-    lcec_el40x2.o \
-    lcec_el41x2.o \
-    lcec_el5101.o \
-    lcec_el5151.o \
-    lcec_el5152.o \
-    lcec_el7342.o \
-    lcec_el95xx.o \
-    lcec_em7004.o \
-    lcec_stmds5k.o \
-    lcec_deasda.o \
-    $(MATHSTUB)
-
-include $(MODINC)
-
-# dirty workaround to get the RTAI directory
-RTAI_INCLUDE_DIR = $(subst /rtai.h,,$(firstword $(wildcard $(foreach i,$(subst -I,,$(filter -I%,$(RTFLAGS))), $(i)/rtai.h))))
-RTAI_DIR = $(RTAI_INCLUDE_DIR)/..
-
-user: lcec_conf
-
-lcec_conf: lcec_conf.c
-	gcc $(EXTRA_CFLAGS) -Wframe-larger-than=16384 -URTAPI -U__MODULE__ -DULAPI -Os -o $@ $< -Wl,-rpath,$(LIBDIR) -L$(LIBDIR) -llinuxcnchal -lexpat
-
-install-user:
-	mkdir -p $(DESTDIR)$(EMC2_HOME)/bin
-	cp lcec_conf $(DESTDIR)$(EMC2_HOME)/bin
-
-rt:
-	$(MAKE) KBUILD_EXTRA_SYMBOLS="$(RTLIBDIR)/Module.symvers $(RTAI_DIR)/modules/ethercat/Module.symvers" -C $(KERNELDIR) SUBDIRS=`pwd` CC=$(CC) V=0 modules
-
-install-rt:
-	mkdir -p $(DESTDIR)$(RTLIBDIR)
-	$(MAKE) install
+clean:
+	@$(MAKE) -f user.mk $@
+	@$(MAKE) -f realtime.mk $@
 

src/lcec.h

@@ -22,9 +22,7 @@
 
 #include "hal.h"
 
-#include "rtapi.h"
 #include "rtapi_ctype.h"
-#include "rtapi_app.h"
 #include "rtapi_string.h"
 #include "rtapi_math.h"
 
@@ -64,7 +62,7 @@ do {                        \
 #define LCEC_DELTA_VID    0x000001dd
 
 // SDO request timeout (ms)
-#define LCEC_SDO_REQ_TIMEOUT 1000
+#define LCEC_SDO_REQ_TIMEOUT LCEC_MS_TO_TICKS(1000)
 
 struct lcec_master;
 struct lcec_slave;

src/lcec_conf.c

@@ -26,6 +26,7 @@
 #include "rtapi.h"
 #include "hal.h"
 
+#include "lcec_rtapi.h"
 #include "lcec_conf.h"
 
 #define BUFFSIZE 8192
@@ -297,7 +298,7 @@ int main(int argc, char **argv) {
     fprintf(stderr, "%s: ERROR: couldn't allocate user/RT shared memory\n", modname);
     goto fail4;
   }
-  if (rtapi_shmem_getptr(shmem_id, &shmem_ptr) < 0) {
+  if (lcec_rtapi_shmem_getptr(shmem_id, &shmem_ptr) < 0) {
     fprintf(stderr, "%s: ERROR: couldn't map user/RT shared memory\n", modname);
     goto fail5;
   }

src/lcec_main.c

@@ -35,6 +35,8 @@
 #include "lcec_stmds5k.h"
 #include "lcec_deasda.h"
 
+#include "rtapi_app.h"
+
 MODULE_LICENSE("GPL");
 MODULE_AUTHOR("Sascha Ittner <[email protected]>");
 MODULE_DESCRIPTION("Driver for EtherCAT devices");
@@ -282,7 +284,7 @@ int rtapi_app_main(void) {
     }
 
     // initialize application time
-    RTAPI_GETTIMEOFDAY(&tv);
+    lcec_gettimeofday(&tv);
     master->app_time = EC_TIMEVAL2NANO(tv);
 
     // activating master
@@ -391,7 +393,7 @@ int lcec_parse_config(void) {
     rtapi_print_msg (RTAPI_MSG_ERR, LCEC_MSG_PFX "couldn't allocate user/RT shared memory\n");
     goto fail0;
   }
-  if (rtapi_shmem_getptr(shmem_id, &shmem_ptr) < 0 ) {
+  if (lcec_rtapi_shmem_getptr(shmem_id, &shmem_ptr) < 0 ) {
     rtapi_print_msg (RTAPI_MSG_ERR, LCEC_MSG_PFX "couldn't map user/RT shared memory\n");
     goto fail1;
   }
@@ -411,7 +413,7 @@ int lcec_parse_config(void) {
     rtapi_print_msg (RTAPI_MSG_ERR, LCEC_MSG_PFX "couldn't allocate user/RT shared memory\n");
     goto fail0;
   }
-  if (rtapi_shmem_getptr(shmem_id, &shmem_ptr) < 0 ) {
+  if (lcec_rtapi_shmem_getptr(shmem_id, &shmem_ptr) < 0 ) {
     rtapi_print_msg (RTAPI_MSG_ERR, LCEC_MSG_PFX "couldn't map user/RT shared memory\n");
     goto fail1;
   }
@@ -438,7 +440,7 @@ int lcec_parse_config(void) {
         conf += sizeof(LCEC_CONF_MASTER_T);
 
         // alloc master memory
-        master = kzalloc(sizeof(lcec_master_t), GFP_KERNEL);
+        master = lcec_zalloc(sizeof(lcec_master_t));
         if (master == NULL) {
           rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "Unable to allocate master %d structure memory\n", master_conf->index);
           goto fail2;
@@ -481,7 +483,7 @@ int lcec_parse_config(void) {
         }
 
         // create new slave
-        slave = kzalloc(sizeof(lcec_slave_t), GFP_KERNEL);
+        slave = lcec_zalloc(sizeof(lcec_slave_t));
         if (slave == NULL) {
           rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "Unable to allocate slave %s.%s structure memory\n", master->name, slave_conf->name);
           goto fail2;
@@ -524,21 +526,21 @@ int lcec_parse_config(void) {
           memset(generic_hal_data, 0, sizeof(lcec_generic_pin_t) * slave_conf->pdoMappingCount);
 
           // alloc pdo entry memory
-          generic_pdo_entries = kzalloc(sizeof(ec_pdo_entry_info_t) * slave_conf->pdoEntryCount, GFP_KERNEL);
+          generic_pdo_entries = lcec_zalloc(sizeof(ec_pdo_entry_info_t) * slave_conf->pdoEntryCount);
           if (generic_pdo_entries == NULL) {
             rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "Unable to allocate slave %s.%s generic pdo entry memory\n", master->name, slave_conf->name);
             goto fail2;
           }
 
           // alloc pdo memory
-          generic_pdos = kzalloc(sizeof(ec_pdo_info_t) * slave_conf->pdoCount, GFP_KERNEL);
+          generic_pdos = lcec_zalloc(sizeof(ec_pdo_info_t) * slave_conf->pdoCount);
           if (generic_pdos == NULL) {
             rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "Unable to allocate slave %s.%s generic pdo memory\n", master->name, slave_conf->name);
             goto fail2;
           }
 
           // alloc sync manager memory
-          generic_sync_managers = kzalloc(sizeof(ec_sync_info_t) * (slave_conf->syncManagerCount + 1), GFP_KERNEL);
+          generic_sync_managers = lcec_zalloc(sizeof(ec_sync_info_t) * (slave_conf->syncManagerCount + 1));
           if (generic_sync_managers == NULL) {
             rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "Unable to allocate slave %s.%s generic sync manager memory\n", master->name, slave_conf->name);
             goto fail2;
@@ -548,7 +550,7 @@ int lcec_parse_config(void) {
 
         // alloc sdo config memory
         if (slave_conf->sdoConfigLength > 0) {
-          sdo_config = kzalloc(slave_conf->sdoConfigLength + sizeof(lcec_slave_sdoconf_t), GFP_KERNEL);
+          sdo_config = lcec_zalloc(slave_conf->sdoConfigLength + sizeof(lcec_slave_sdoconf_t));
           if (sdo_config == NULL) {
             rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "Unable to allocate slave %s.%s generic pdo entry memory\n", master->name, slave_conf->name);
             goto fail2;
@@ -591,7 +593,7 @@ int lcec_parse_config(void) {
         }
 
         // create new dc config
-        dc = kzalloc(sizeof(lcec_slave_dc_t), GFP_KERNEL);
+        dc = lcec_zalloc(sizeof(lcec_slave_dc_t));
         if (dc == NULL) {
           rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "Unable to allocate slave %s.%s dc config memory\n", master->name, slave->name);
           goto fail2;
@@ -626,7 +628,7 @@ int lcec_parse_config(void) {
         }
 
         // create new wd config
-        wd = kzalloc(sizeof(lcec_slave_watchdog_t), GFP_KERNEL);
+        wd = lcec_zalloc(sizeof(lcec_slave_watchdog_t));
         if (wd == NULL) {
           rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "Unable to allocate slave %s.%s watchdog config memory\n", master->name, slave->name);
           goto fail2;
@@ -781,7 +783,7 @@ int lcec_parse_config(void) {
 
   // allocate PDO entity memory
   for (master = first_master; master != NULL; master = master->next) {
-    pdo_entry_regs = kzalloc(sizeof(ec_pdo_entry_reg_t) * (master->pdo_entry_count + 1), GFP_KERNEL);
+    pdo_entry_regs = lcec_zalloc(sizeof(ec_pdo_entry_reg_t) * (master->pdo_entry_count + 1));
     if (pdo_entry_regs == NULL) {
       rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "Unable to allocate master %s PDO entry memory\n", master->name);
       goto fail2;
@@ -820,24 +822,24 @@ void lcec_clear_config(void) {
 
       // free slave
       if (slave->sdo_config != NULL) {
-        kfree(slave->sdo_config);
+        lcec_free(slave->sdo_config);
       }
       if (slave->generic_pdo_entries != NULL) {
-        kfree(slave->generic_pdo_entries);
+        lcec_free(slave->generic_pdo_entries);
       }
       if (slave->generic_pdos != NULL) {
-        kfree(slave->generic_pdos);
+        lcec_free(slave->generic_pdos);
       }
       if (slave->generic_sync_managers != NULL) {
-        kfree(slave->generic_sync_managers);
+        lcec_free(slave->generic_sync_managers);
       }
       if (slave->dc_conf != NULL) {
-        kfree(slave->dc_conf);
+        lcec_free(slave->dc_conf);
       }
       if (slave->wd_conf != NULL) {
-        kfree(slave->wd_conf);
+        lcec_free(slave->wd_conf);
       }
-      kfree(slave);
+      lcec_free(slave);
       slave = prev_slave;
     }
 
@@ -848,11 +850,11 @@ void lcec_clear_config(void) {
 
     // free PDO entry memory
     if (master->pdo_entry_regs != NULL) {
-      kfree(master->pdo_entry_regs);
+      lcec_free(master->pdo_entry_regs);
     }
 
     // free master
-    kfree(master);
+    lcec_free(master);
     master = prev_master;
   }
 }
@@ -1086,7 +1088,7 @@ ec_sdo_request_t *lcec_read_sdo(struct lcec_slave *slave, uint16_t index, uint8_
   lcec_master_t *master = slave->master;
   ec_sdo_request_t *sdo;
   ec_request_state_t sdo_state;
-  unsigned long jiffies_start;
+  long ticks_start;
 
   // create request
   if (!(sdo = ecrt_slave_config_create_sdo_request(slave->config, index, subindex, size))) {
@@ -1101,9 +1103,9 @@ ec_sdo_request_t *lcec_read_sdo(struct lcec_slave *slave, uint16_t index, uint8_
   ecrt_sdo_request_read(sdo);
 
   // wait for completition (master's time out does not work here. why???)
-  jiffies_start = jiffies;
-  while ((sdo_state = ecrt_sdo_request_state(sdo)) == EC_REQUEST_BUSY && (jiffies -  jiffies_start) < (HZ * LCEC_SDO_REQ_TIMEOUT / 1000)) {
-    schedule();
+  ticks_start = lcec_get_ticks();
+  while ((sdo_state = ecrt_sdo_request_state(sdo)) == EC_REQUEST_BUSY && (lcec_get_ticks() -  ticks_start) < LCEC_SDO_REQ_TIMEOUT) {
+    lcec_schedule();
   }
 
   // check state