initial version of s7plcFW driver

MODULE

@@ -0,0 +1,6 @@
+# Please change the following email with yours.
+Email: Damir.Anicic@psi.ch
+Module-Name: s7plcFW
+Description: s7plcFW - the same as Dirk's s7plc, but uses FETCH/WRITE instead of SEND/RECEIVE
+Project-Name:
+

Makefile

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+include /ioc/tools/driver.makefile
+
+#BUILDCLASSES+=Linux
+
+DBDS += s7plcFWBase.dbd
+DBDS_3.14 += s7plcFWCalcout.dbd
+DBDS_3.14 += s7plcFWReg.dbd
+
+EPICS_VERSIONS =
+EPICS_VERSIONS += 3.14.8

compat3_13.h

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+/* EPICS R3.13 compatibility header
+*
+* Including this header allows (some) EPICS R3.14 code to be compiled
+* with EPICS R3.13 for a vxWorks system using a GNU compiler.
+*
+* It replaces R3.14 headers
+*   epicsTypes.h
+*   epicsAssert.h
+*   epicsString.h
+*   epicsExport.h
+*   epicsThread.h
+*   epicsTimer.h
+*   epicsMutex.h
+*   epicsEvent.h
+*   cantProceed.h
+*
+* It is not complete and only simulates the C interfaces (not C++).
+* It uses some gcc extensions and might not work with other compilers.
+* It requires vxWorks.
+* It might be buggy or produce slightly different behaviour than the
+* original R3.14 functions.
+*
+* Since all functions are simulated as macros, you might not be able to
+* take the address of a function. Be careful with arguments as they
+* might be evaluated multiple times.
+*   This won't work:               fptr = &epicsTimerStartDelay;
+*   Don't do this (changing arg):  epicsTimerStartDelay(*ptimer++, delay);
+*
+* You can take the address of
+*   epicsMutexUnlock   
+*   epicsMutexDestroy  
+*   epicsEventSignal   
+*   epicsEventDestroy 
+*
+* You have been warned.
+* Dirk Zimoch, March 2005
+*/
+
+#ifndef compat3_13_h
+#define compat3_13_h
+
+#include <vxWorks.h>
+#include <sysLib.h>
+#include <selectLib.h>
+
+/* epicsAssert */
+#include <assert.h>
+
+/* epicsString */
+#define epicsStrDup(s) strcpy(malloc(strlen(s)+1),(s))
+
+/* epicsExport */
+#define epicsExportAddress(a,b) extern void avoid_compiler_warning
+
+/* epicsThread */
+#include <taskLib.h>
+#define epicsThreadId void*
+#define EPICSTHREADFUNC FUNCPTR
+#define epicsThreadPriorityLow    10
+#define epicsThreadPriorityMedium 50
+#define epicsThreadPriorityHigh   90
+
+#define epicsThreadCreate(name, pri, stack, func, args) \
+    (void*)taskSpawn((name), 255-(pri)*255/99, VX_FP_TASK, (stack), (FUNCPTR)(func), (int)(args), \
+    0,0,0,0,0,0,0,0,0)
+    
+#define epicsThreadSleep(sec) taskDelay((sec)*sysClkRateGet())
+#define epicsThreadIsSuspended(t) (taskIdVerify((int)(t)) || taskIsSuspended((int)(t)))
+
+/* epicsTimer */
+#include <wdLib.h>
+#define epicsTimerQueueId char*
+#define epicsTimerQueueAllocate(a,b) NULL
+typedef void (*epicsTimerCallback) (void* pPrivate);
+typedef struct epicsTimerForC {WDOG_ID wd; FUNCPTR cb; int p;} *epicsTimerId;
+
+#define epicsTimerQueueCreateTimer(q, callback, param) __extension__ \
+({ \
+    epicsTimerId ti = calloc(1,sizeof(struct epicsTimerForC)); \
+    ti->wd = wdCreate(); \
+    ti->cb = (FUNCPTR)(callback); \
+    ti->p = (int)(param); \
+    ti; \
+})
+
+#define epicsTimerStartDelay(ti,delay) \
+    (void) wdStart((ti)->wd, (delay)*sysClkRateGet(), (ti)->cb, (ti)->p)
+
+/* cantProceed */
+#define callocMustSucceed(n,s,m) __extension__ \
+({ \
+    void *mem = calloc((n),(s)); \
+    if (!mem) { printErr("FATAL: callocMustSucceed failed in %s line %d %s: \n", \
+        __FILE__, __LINE__, (m), strerror(errno)); taskSuspend(0); } \
+    mem; \
+})
+
+/* epicsMutex */
+#include <semLib.h>
+#define epicsMutexId SEM_ID
+
+#define epicsMutexMustCreate() __extension__ \
+({ \
+    SEM_ID m = semMCreate(SEM_Q_FIFO); \
+    if (!m) { printErr("FATAL: epicsMutexMustCreate failed in %s line %d: %s\n", \
+        __FILE__, __LINE__, strerror(errno)); taskSuspend(0); } \
+    m; \
+})
+
+#define epicsMutexMustLock(m) \
+    (semTake(m, WAIT_FOREVER) && \
+    (printErr("FATAL: epicsMutexMustLock failed in %s line %d: %s\n", \
+     __FILE__, __LINE__, strerror(errno)), \
+     taskSuspend(0), ERROR))
+
+#define epicsMutexUnlock semGive
+#define epicsMutexDestroy semDelete
+
+/* epicsEvent */
+#define epicsEventId SEM_ID
+#define epicsEventEmpty SEM_EMPTY
+#define epicsEventFull SEM_FULL
+
+#define epicsEventMustCreate(state) __extension__ \
+({ \
+    SEM_ID e = semBCreate(SEM_Q_FIFO, state); \
+    if (!e) { printErr("FATAL: epicsEventMustCreate failed in %s line %d: %s\n", \
+        __FILE__, __LINE__, strerror(errno)); taskSuspend(0); } \
+    e; \
+})
+
+#define epicsEventMustWait(e) \
+    (semTake(e, WAIT_FOREVER) && \
+    (printErr("FATAL: epicsEventMustWait failed in %s line %d: %s\n", \
+     __FILE__, __LINE__, strerror(errno)), \
+     taskSuspend(0), ERROR))
+
+#define epicsEventSignal semGive
+#define epicsEventWaitWithTimeout(e,t) semTake((e),(t)*sysClkRateGet())
+#define epicsEventWait(e) semTake((e),WAIT_FOREVER)
+#define epicsEventTryWait(e) semTake((e),NO_WAIT)
+#define epicsEventDestroy semDelete
+
+#endif

drvS7plcFW.h

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+/* $Author: anicic $ */ 
+/* $Date: 2010/09/22 13:44:37 $ */ 
+/* $Id: drvS7plcFW.h,v 1.1 2010/09/22 13:44:37 anicic Exp $ */  
+/* $Name:  $ */ 
+/* $Revision: 1.1 $ */ 
+
+#ifndef drvS7plcFW_h
+#define drvS7plcFW_h
+
+#include <dbScan.h>
+
+#ifndef __GNUC__
+#define __attribute__(a)
+#endif
+
+#ifndef DEBUG
+#define STATIC static
+#else
+#define STATIC
+#endif
+
+/*  driver initialisation define  */
+
+typedef struct s7plcFWStation s7plcFWStation;
+
+extern int s7plcFWDebug;
+
+void s7plcFWDebugLog(int level, const char *fmt, ...)
+__attribute__((format(printf, 2, 3)));
+
+s7plcFWStation *s7plcFWOpen(char *name);
+IOSCANPVT s7plcFWGetFetchScanPvt(s7plcFWStation *station);
+IOSCANPVT s7plcFWGetWriteScanPvt(s7plcFWStation *station);
+
+int s7plcFWReadArray(
+    s7plcFWStation *station,
+    unsigned int offset,
+    unsigned int dlen,
+    unsigned int nelem,
+    void* pdata
+);
+
+int s7plcFWWriteMaskedArray(
+    s7plcFWStation *station,
+    unsigned int offset,
+    unsigned int dlen,
+    unsigned int nelem,
+    void* pdata,
+    void* pmask
+);
+
+#define s7plcFWWriteArray(station, offset, dlen, nelem, pdata) \
+    s7plcFWWriteMaskedArray((station), (offset), (dlen), (nelem), (pdata), NULL)
+
+#define s7plcFWWriteMasked(station, offset, dlen, pdata, mask) \
+    s7plcFWWriteMaskedArray((station), (offset), (dlen), 1, (pdata), (mask))
+
+#define s7plcFWWrite(station, offset, dlen, pdata) \
+    s7plcFWWriteMaskedArray((station), (offset), (dlen), 1, (pdata), NULL)
+
+#define s7plcFWRead(station, offset, dlen, pdata) \
+    s7plcFWReadArray((station), (offset), (dlen), 1, (pdata))
+
+/************************************************************************/
+/* * DRV driver error codes */
+#define M_drvLib (1003<<16U)
+#define drvError(CODE) (M_drvLib | (CODE))
+
+#define S_drv_OK 0 /* success */
+#define S_drv_badParam drvError(1) /*driver: bad parameter*/
+#define S_drv_noMemory drvError(2) /*driver: no memory*/
+#define S_drv_noDevice drvError(3) /*driver: device not configured*/
+#define S_drv_invSigMode drvError(4)/*driver: signal mode conflicts with device config*/
+#define S_drv_cbackChg drvError(5) /*driver: specified callback differs from previous config*/
+#define S_drv_alreadyQd drvError(6)/*driver: a read request is already queued for the channel*/
+#define S_drv_noConn drvError(7) /*driver:   connection to plc lost*/
+
+#endif /* drvS7plcFW_h */

s7plcFWBase.dbd

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+device(mbboDirect, INST_IO, s7plcFWMbboDirect, "S7plcFW")
+device(mbbiDirect, INST_IO, s7plcFWMbbiDirect, "S7plcFW")
+device(bi,         INST_IO, s7plcFWBi,         "S7plcFW")
+device(bo,         INST_IO, s7plcFWBo,         "S7plcFW")
+device(longin,     INST_IO, s7plcFWLongin,     "S7plcFW")
+device(longout,    INST_IO, s7plcFWLongout,    "S7plcFW")
+device(mbbo,       INST_IO, s7plcFWMbbo,       "S7plcFW")
+device(mbbi,       INST_IO, s7plcFWMbbi,       "S7plcFW")
+device(ao,         INST_IO, s7plcFWAo,         "S7plcFW")
+device(ai,         INST_IO, s7plcFWAi,         "S7plcFW")
+device(stringout,  INST_IO, s7plcFWStringout,  "S7plcFW")
+device(stringin,   INST_IO, s7plcFWStringin,   "S7plcFW")
+device(waveform,   INST_IO, s7plcFWWaveform,   "S7plcFW")
+device(bi,         INST_IO, s7plcFWStat,  "S7plcFW stat")
+device(bi,         INST_IO, s7plcFWStat2,"S7plcFW stat2")
+driver(s7plcFW)
+

s7plcFWCalcout.dbd

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+device(calcout,    INST_IO, s7plcFWCalcout,    "S7plcFW")

s7plcFWReg.dbd

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+registrar(s7plcFWRegister)
+variable(s7plcFWDebug, int)
+