Merge pull request #3225 from BsAtHome/fix_deduplicate-hm2-code

Deduplicate hm2 driver code and constants

Author: pcw-mesa

src/Makefile

@@ -1058,12 +1058,16 @@ hm2_pci-objs  :=			  \
     $(MATHSTUB)
 hm2_eth-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_eth.o   \
+    hal/drivers/mesa-hostmot2/eshellf.o   \
     $(MATHSTUB)
 hm2_spi-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_spi.o   \
+    hal/drivers/mesa-hostmot2/llio_info.o \
     $(MATHSTUB)
 hm2_rpspi-objs  :=			  \
-    hal/drivers/mesa-hostmot2/hm2_rpspi.o   \
+    hal/drivers/mesa-hostmot2/hm2_rpspi.o \
+    hal/drivers/mesa-hostmot2/llio_info.o \
+    hal/drivers/mesa-hostmot2/eshellf.o   \
     $(MATHSTUB)
 hm2_spix-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_spix.o  \

src/hal/drivers/mesa-hostmot2/hm2_eth.c

@@ -45,6 +45,7 @@
 #include "hostmot2-lowlevel.h"
 #include "hostmot2.h"
 #include "hm2_eth.h"
+#include "eshellf.h"
 
 struct kvlist {
     struct rtapi_list_head list;
@@ -463,32 +464,6 @@ static int eth_socket_recv(int sockfd, void *buffer, int len, int flags);
 #define IPTABLES "env \"PATH=/usr/sbin:/sbin:${PATH}\" iptables"
 #define CHAIN "hm2-eth-rules-output"
 
-static int shell(char *command) {
-    char *const argv[] = {"sh", "-c", command, NULL};
-    pid_t pid;
-    int res = rtapi_spawn_as_root(&pid, "/bin/sh", NULL, NULL, argv, environ);
-    if(res < 0) perror("rtapi_spawn_as_root");
-    int status;
-    waitpid(pid, &status, 0);
-    if(WIFEXITED(status)) return WEXITSTATUS(status);
-    else if(WIFSTOPPED(status)) return WTERMSIG(status)+128;
-    else return status;
-}
-
-static int eshellf(char *fmt, ...) {
-    char commandbuf[1024];
-    va_list ap;
-    va_start(ap, fmt);
-    vsnprintf(commandbuf, sizeof(commandbuf), fmt, ap);
-    va_end(ap);
-
-    int res = shell(commandbuf);
-    if(res == EXIT_SUCCESS) return 0;
-
-    LL_PRINT("ERROR: Failed to execute '%s'\n", commandbuf);
-    return -EINVAL;
-}
-
 static bool chain_exists() {
     int result =
         shell(IPTABLES" -n -L "CHAIN" > /dev/null 2>&1");
@@ -627,7 +602,7 @@ static int install_iptables_perinterface(const char *ifbuf) {
         ifbuf);
     if(res < 0) return res;
 
-    res = eshellf("/sbin/sysctl -q net.ipv6.conf.%s.disable_ipv6=1", ifbuf);
+    res = eshellf(HM2_LLIO_NAME, "/sbin/sysctl -q net.ipv6.conf.%s.disable_ipv6=1", ifbuf);
     if(res < 0) return res;
 
     return 0;

src/hal/drivers/mesa-hostmot2/hm2_rpspi.c

@@ -41,6 +41,8 @@
 #include "hostmot2-lowlevel.h"
 #include "hostmot2.h"
 #include "spi_common_rpspi.h"
+#include "eshellf.h"
+#include "llio_info.h"
 
 #define HM2_LLIO_NAME "hm2_rpspi"
 
@@ -112,127 +114,6 @@ static uint32_t aux_enables;					// Previous state of SPI1 enable
 static hm2_rpspi_t boards[RPSPI_MAX_BOARDS];	// Connected boards
 static int comp_id;				// Upstream assigned component ID
 
-static const char *hm2_7c80_pin_names[] = {
-	"TB07-02/TB07-03",	/* Step/Dir/Misc 5V out */
-	"TB07-04/TB07-05",
-	"TB08-02/TB08-03",
-	"TB08-04/TB08-05",
-	"TB09-02/TB09-03",
-	"TB09-04/TB09-05",
-	"TB10-02/TB10-03",
-	"TB10-04/TB10-05",
-	"TB11-02/TB11-03",
-	"TB11-04/TB11-05",
-	"TB12-02/TB12-03",
-	"TB12-04/TB12-05",
-	"TB03-03/TB04-04",	/* RS-422/RS-485 interface */
-	"TB03-05/TB04-06",
-	"TB03-05/TB03-06",
-	"TB04-01/TB04-02",	/* Encoder */
-	"TB04-04/TB04-05",
-	"TB04-07/TB04-08",
-	"TB05-02",		/* Spindle */
-	"TB05-02",
-	"TB05-05/TB05-06",
-	"TB05-07/TB05-08",
-	"Internal InMux0",	/* InMux */
-	"Internal InMux1",
-	"Internal InMux2",
-	"Internal InMux3",
-	"Internal InMux4",
-
-	"Internal InMuxData",
-	"TB13-01/TB13-02",	/* SSR */
-	"TB13-03/TB13-04",
-	"TB13-05/TB13-06",
-	"TB13-07/TB13-08",
-	"TB14-01/TB14-02",
-	"TB14-03/TB14-04",
-	"TB14-05/TB14-06",
-	"TB14-07/TB14-08",
-	"Internal SSR",
-	"P1-01/DB25-01",
-	"P1-02/DB25-14",
-	"P1-03/DB25-02",
-	"P1-04/DB25-15",
-	"P1-05/DB25-03",
-	"P1-06/DB25-16",
-	"P1-07/DB25-04",
-	"P1-08/DB25-17",
-	"P1-09/DB25-05",
-	"P1-11/DB25-06",
-	"P1-13/DB25-07",
-	"P1-15/DB25-08",
-	"P1-17/DB25-09",
-	"P1-19/DB25-10",
-	"P1-21/DB25-11",
-	"P1-23/DB25-12",
-	"P1-25/DB25-13",
-};
-
-static const char *hm2_7c81_pin_names[] = {
-	"P1-01/DB25-01",
-	"P1-02/DB25-14",
-	"P1-03/DB25-02",
-	"P1-04/DB25-15",
-	"P1-05/DB25-03",
-	"P1-06/DB25-16",
-	"P1-07/DB25-04",
-	"P1-08/DB25-17",
-	"P1-09/DB25-05",
-	"P1-11/DB25-06",
-	"P1-13/DB25-07",
-	"P1-15/DB25-08",
-	"P1-17/DB25-09",
-	"P1-19/DB25-10",
-	"P1-21/DB25-11",
-	"P1-23/DB25-12",
-	"P1-25/DB25-13",
-	"J5-TX0",
-	"J6-TX1",
-
-	"P2-01/DB25-01",
-	"P2-02/DB25-14",
-	"P2-03/DB25-02",
-	"P2-04/DB25-15",
-	"P2-05/DB25-03",
-	"P2-06/DB25-16",
-	"P2-07/DB25-04",
-	"P2-08/DB25-17",
-	"P2-09/DB25-05",
-	"P2-11/DB25-06",
-	"P2-13/DB25-07",
-	"P2-15/DB25-08",
-	"P2-17/DB25-09",
-	"P2-19/DB25-10",
-	"P2-21/DB25-11",
-	"P2-23/DB25-12",
-	"P2-25/DB25-13",
-	"J5-TXEN0",
-	"J6-TXEN1",
-
-	"P7-01/DB25-01",
-	"P7-02/DB25-14",
-	"P7-03/DB25-02",
-	"P7-04/DB25-15",
-	"P7-05/DB25-03",
-	"P7-06/DB25-16",
-	"P7-07/DB25-04",
-	"P7-08/DB25-17",
-	"P7-09/DB25-05",
-	"P7-11/DB25-06",
-	"P7-13/DB25-07",
-	"P7-15/DB25-08",
-	"P7-17/DB25-09",
-	"P7-19/DB25-10",
-	"P7-21/DB25-11",
-	"P7-23/DB25-12",
-	"P7-25/DB25-13",
-	"P5-RX0",
-	"P6-RX1"
-};
-
-
 /*
  * Configuration parameters
  */
@@ -929,8 +810,8 @@ static uint32_t read_spiclkbase(void)
 /*************************************************/
 static int probe_board(hm2_rpspi_t *board) {
 	int32_t ret;
-	char ident[8+1];
-	char *base;
+	hm2_idrom_t idrom;
+	const char *base;
 
 #if defined(RPSPI_DEBUG_WRITE)
 	uint32_t buf[8] = {0x00010203, 0x04050607, 0x08090a0b, 0x0c0d0e0f, 0x10111213, 0x14151617, 0x18191a1b, 0x1c1d1e1f};
@@ -942,53 +823,16 @@ static int probe_board(hm2_rpspi_t *board) {
 
 	rtapi_print_msg(RPSPI_INFO, "hm2_rpspi: SPI%d/CE%d Valid cookie matched\n", board->spidevid, board->spiceid);
 
-	// Read the board identification.
-	// The IDROM address offset is returned in the cookie check and the
-	// board_name offset is added (see hm2_idrom_t in hostmot2.h)
-	// FIXME: should we not simply read the entire IDROM here?
-	if(!board->llio.read(&board->llio, (uint32_t)ret + 0x000c, ident, 8)) {
+	// Read the IDROM from the board. The IDROM address offset was returned in
+	// the cookie check.
+	if(board->llio.read(&board->llio, (uint32_t)ret, &idrom, sizeof(hm2_idrom_t)) <= 0) {
 		rtapi_print_msg(RPSPI_ERR, "hm2_rpspi: SPI%d/CE%d Board ident read failed\n", board->spidevid, board->spiceid);
 		return -EIO;	// Cookie could be read, so this is a comms error
 	}
-	ident[sizeof(ident)-1] = 0;	// Because it may be used in printf, regardless format limits
-
-	if(!memcmp(ident, "MESA7I90", 8)) {
-		base = "hm2_7i90";
-		board->llio.num_ioport_connectors = 3;
-		board->llio.pins_per_connector = 24;
-		board->llio.ioport_connector_name[0] = "P1";
-		board->llio.ioport_connector_name[1] = "P2";
-		board->llio.ioport_connector_name[2] = "P3";
-		board->llio.num_leds = 2;
-		board->llio.fpga_part_number = "xc6slx9tq144";
-	} else if(!memcmp(ident, "MESA7C80", 8)){
-		base = "hm2_7c80";
-		board->llio.num_ioport_connectors = 2;
-		board->llio.pins_per_connector = 27;
-		board->llio.ioport_connector_name[0] = "Embedded I/O";
-		board->llio.ioport_connector_name[1] = "Embedded I/O + P1 expansion";
-		board->llio.io_connector_pin_names = hm2_7c80_pin_names;
-		board->llio.num_leds = 4;
-		board->llio.fpga_part_number = "xc6slx9tq144";
-	} else if(!memcmp(ident, "MESA7C81", 8)){
-		base = "hm2_7c81";
-		board->llio.num_ioport_connectors = 3;
-		board->llio.pins_per_connector = 19;
-		board->llio.ioport_connector_name[0] = "P1";
-		board->llio.ioport_connector_name[1] = "P2";
-		board->llio.ioport_connector_name[2] = "P7";
-		board->llio.io_connector_pin_names = hm2_7c81_pin_names;
-		board->llio.num_leds = 4;
-		board->llio.fpga_part_number = "xc6slx9tq144";
-	} else {
-		int i;
-		for(i = 0; i < sizeof(ident) - 1; i++) {
-			if(!isprint(ident[i]))
-				ident[i] = '?';
-		}
-		rtapi_print_msg(RPSPI_ERR, "hm2_rpspi: Unknown board at SPI%d/CE%d: %.8s\n", board->spidevid, board->spiceid, ident);
-		return -1;
-	}
+
+	// Detect board name and fill in informational values
+	if(!(base = set_llio_info_spi(&board->llio, &idrom)))
+		return -ENOENT;
 
 	rtapi_print_msg(RPSPI_INFO, "hm2_rpspi: SPI%d/CE%d Base: %s.%d\n", board->spidevid, board->spiceid, base, board->nr);
 	rtapi_snprintf(board->llio.name, sizeof(board->llio.name), "%s.%d", base, board->nr);
@@ -1421,49 +1265,22 @@ static int hm2_rpspi_setup(void)
 	return j > 0 ? 0 : -ENODEV;
 }
 
-static int shell(char *command) {
-    char *const argv[] = {"sh", "-c", command, NULL};
-    pid_t pid;
-    int res = rtapi_spawn_as_root(&pid, "/bin/sh", NULL, NULL, argv, environ);
-    if(res < 0) perror("rtapi_spawn_as_root");
-    int status;
-    waitpid(pid, &status, 0);
-    if(WIFEXITED(status)) return WEXITSTATUS(status);
-    else if(WIFSTOPPED(status)) return WTERMSIG(status)+128;
-    else return status;
-}
-
-static int eshellf(char *fmt, ...) {
-    char commandbuf[1024];
-    va_list ap;
-    va_start(ap, fmt);
-    vsnprintf(commandbuf, sizeof(commandbuf), fmt, ap);
-    va_end(ap);
-
-    int res = shell(commandbuf);
-    if(res == EXIT_SUCCESS) return 0;
-
-    LL_PRINT("ERROR: Failed to execute '%s'\n", commandbuf);
-    return -EINVAL;
-}
-
-
 /*************************************************/
 static void hm2_rpspi_cleanup(void)
 {
 	if((void *)peripheralmem != MAP_FAILED) {
 		peripheral_restore();
 		munmap(peripheralmem, peripheralsize);
 	}
-	eshellf("/sbin/modprobe spi-bcm2835");
+	eshellf(HM2_LLIO_NAME, "/sbin/modprobe spi-bcm2835");
 }
 
 /*************************************************/
 int rtapi_app_main()
 {
 	int ret;
 
-	eshellf("/sbin/rmmod spi_bcm2835");
+	eshellf(HM2_LLIO_NAME, "/sbin/rmmod spi_bcm2835");
 
 	if((comp_id = ret = hal_init("hm2_rpspi")) < 0)
 		goto fail;