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><DIV
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><H1
><A
NAME="IO-HOW-TO-WRITE-A-DRIVER">Chapter 17. How to Write a Driver</H1
><DIV
CLASS="TOC"
><DL
><DT
><B
>Table of Contents</B
></DT
><DT
><A
HREF="io-how-to-write-a-driver.html#IO-HOW-TO-WRITE-SERIAL-INTERFACE-DRIVER"
>How to Write a Serial Hardware Interface Driver</A
></DT
><DT
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>Serial testing with ser_filter</A
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></DIV
><P
>A device driver is nothing more than a
named entity that supports the basic I/O functions - read, write, get
config, and set config. Typically a device driver also uses and
manages interrupts from the device. While the interface is generic and
device driver independent, the actual driver implementation is
completely up to the device driver designer. </P
><P
>That said, the reason for using a device driver is to provide
access to a device from application code in as general purpose a
fashion as reasonable. Most driver writers are also concerned with
making this access as simple as possible while being as efficient
as possible. </P
><P
>Most device drivers are concerned with the movement of information,
for example data bytes along a serial interface, or packets in a
network. In order to make the most efficient use of system resources,
interrupts are used. This will allow other application processing
to take place while the data transfers are under way, with interrupts
used to indicate when various events have occurred. For example,
a serial port typically generates an interrupt after a character
has been sent “down the wire” and the interface
is ready for another. It makes sense to allow further application
processing while the data is being sent since this can take quite
a long time. The interrupt can be used to allow the driver to send
a character as soon as the current one is complete, without any
active participation by the application code. </P
><P
>The main building blocks for device drivers are found in the
include file: <TT
CLASS="FILENAME"
><cyg/io/devtab.h></TT
></P
><P
>All device drivers in <SPAN
CLASS="emphasis"
><I
CLASS="EMPHASIS"
>eCos</I
></SPAN
> are described
by a device table entry, using the <SPAN
CLASS="TYPE"
>cyg_devtab_entry_t</SPAN
> type.
The entry should be created using the <TT
CLASS="FUNCTION"
>DEVTAB_ENTRY()</TT
> macro,
like this:</P
><TABLE
BORDER="5"
BGCOLOR="#E0E0F0"
WIDTH="70%"
><TR
><TD
><PRE
CLASS="PROGRAMLISTING"
><TT
CLASS="FUNCTION"
>DEVTAB_ENTRY</TT
>(l, name, dep_name, handlers, init, lookup, priv)</PRE
></TD
></TR
></TABLE
><P
></P
><DIV
CLASS="VARIABLELIST"
><P
><B
>Arguments</B
></P
><DL
><DT
><TT
CLASS="PARAMETER"
><I
>l</I
></TT
></DT
><DD
><P
>The "C" label for this device table entry.</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>name</I
></TT
></DT
><DD
><P
>The "C" string name for the device.</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>dep_name</I
></TT
></DT
><DD
><P
>For a layered device, the "C" string name of the
device this device is built upon.</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>handlers</I
></TT
></DT
><DD
><P
>A pointer to the I/O function "handlers" (see below).</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>init</I
></TT
></DT
><DD
><P
>A function called when eCos is initialized. This
function can query the device, setup hardware, etc.</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>lookup</I
></TT
></DT
><DD
><P
>A function called when <TT
CLASS="FUNCTION"
>cyg_io_lookup()</TT
> is called
for this device. </P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>priv</I
></TT
></DT
><DD
><P
>A placeholder for any device specific data
required by the driver.</P
></DD
></DL
></DIV
><P
>The interface to the driver is through the <TT
CLASS="STRUCTFIELD"
><I
>handlers</I
></TT
> field. This is a pointer to
a set of functions which implement the various <TT
CLASS="FUNCTION"
>cyg_io_XXX()</TT
>
routines. This table is defined by the macro:</P
><TABLE
BORDER="5"
BGCOLOR="#E0E0F0"
WIDTH="70%"
><TR
><TD
><PRE
CLASS="PROGRAMLISTING"
>DEVIO_TABLE(l, write, read, get_config, set_config)</PRE
></TD
></TR
></TABLE
><P
></P
><DIV
CLASS="VARIABLELIST"
><P
><B
>Arguments</B
></P
><DL
><DT
><TT
CLASS="PARAMETER"
><I
>l</I
></TT
></DT
><DD
><P
>The "C" label for this table of handlers.</P
></DD
><DT
>write</DT
><DD
><P
>The function called as a result of
<TT
CLASS="FUNCTION"
>cyg_io_write()</TT
>.</P
></DD
><DT
>read</DT
><DD
><P
>The function called as a result of
<TT
CLASS="FUNCTION"
>cyg_io_read()</TT
>. </P
></DD
><DT
>get_config</DT
><DD
><P
>The function called as a result of
<TT
CLASS="FUNCTION"
>cyg_io_get_config()</TT
>.</P
></DD
><DT
>set_config</DT
><DD
><P
>The function called as a result of
<TT
CLASS="FUNCTION"
>cyg_io_set_config()</TT
>. </P
></DD
></DL
></DIV
><P
>When <SPAN
CLASS="emphasis"
><I
CLASS="EMPHASIS"
>eCos</I
></SPAN
> is initialized (sometimes called
“boot” time), the <TT
CLASS="FUNCTION"
>init()</TT
> function is called
for all devices in the system. The <TT
CLASS="FUNCTION"
>init()</TT
> function is
allowed to return an error in which case the device will be placed
“off line” and all I/O requests to that device will be
considered in error.</P
><P
>The <TT
CLASS="FUNCTION"
>lookup()</TT
> function is called whenever
the <TT
CLASS="FUNCTION"
>cyg_io_lookup()</TT
> function
is called with this device name. The lookup function may cause the device
to come “on line” which would then allow I/O
operations to proceed. Future versions of the I/O system
will allow for other states, including power saving modes,
etc.</P
><DIV
CLASS="SECTION"
><H1
CLASS="SECTION"
><A
NAME="IO-HOW-TO-WRITE-SERIAL-INTERFACE-DRIVER">How to Write a Serial Hardware Interface Driver</H1
><P
>The standard serial driver supplied with
<SPAN
CLASS="emphasis"
><I
CLASS="EMPHASIS"
>eCos</I
></SPAN
> is structured as a hardware independent
portion and a hardware dependent interface module. To add support for
a new serial port, the user should be able to use the existing
hardware independent portion and just add their own interface driver which handles the details of the
actual device. The user should have no need to change the hardware
independent portion. </P
><P
>The interfaces used by the serial driver and serial implementation
modules are contained in the file <TT
CLASS="FILENAME"
><cyg/io/serial.h></TT
></P
><DIV
CLASS="NOTE"
><BLOCKQUOTE
CLASS="NOTE"
><P
><B
>Note: </B
>In the sections below we use the notation <<xx>> to
mean a module specific value, referred to as “xx” below.</P
></BLOCKQUOTE
></DIV
><DIV
CLASS="SECTION"
><H2
CLASS="SECTION"
><A
NAME="AEN10881">DevTab Entry</H2
><P
>The interface module contains the devtab entry (or entries
if a single module supports more than one interface). This entry
should have the form: </P
><TABLE
BORDER="5"
BGCOLOR="#E0E0F0"
WIDTH="70%"
><TR
><TD
><PRE
CLASS="PROGRAMLISTING"
>DEVTAB_ENTRY(<<module_name>>,
<<device_name>>,
0,
&serial_devio,
<<module_init>>,
<<module_lookup>>,
&<<serial_channel>>
);</PRE
></TD
></TR
></TABLE
><P
></P
><DIV
CLASS="VARIABLELIST"
><P
><B
>Arguments</B
></P
><DL
><DT
><TT
CLASS="PARAMETER"
><I
>module_name</I
></TT
></DT
><DD
><P
>The "C" label for this devtab entry</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>device_name</I
></TT
></DT
><DD
><P
>The "C" string for the
device. E.g. <TT
CLASS="FILENAME"
>/dev/serial0</TT
>.</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>serial_devio</I
></TT
></DT
><DD
><P
>The table of I/O functions. This set is defined in
the hardware independent serial driver and should be used.</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>module_init</I
></TT
></DT
><DD
><P
>The module initialization function.</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>module_lookup</I
></TT
></DT
><DD
><P
>The device lookup function. This function
typically sets up the device for actual use, turning on
interrupts, configuring the port, etc.</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>serial_channel</I
></TT
></DT
><DD
><P
>This table (defined below) contains the interface
between the interface module and the serial driver proper.</P
></DD
></DL
></DIV
></DIV
><DIV
CLASS="SECTION"
><H2
CLASS="SECTION"
><A
NAME="AEN10918">Serial Channel Structure</H2
><P
>Each serial device must have a “serial channel”.
This is a set of data which describes all operations on the device.
It also contains buffers, etc., if the device is to be buffered.
The serial channel is created by the macro: </P
><TABLE
BORDER="5"
BGCOLOR="#E0E0F0"
WIDTH="70%"
><TR
><TD
><PRE
CLASS="PROGRAMLISTING"
>SERIAL_CHANNEL_USING_INTERRUPTS(l, funs, dev_priv, baud,stop, parity, word_length,
flags, out_buf, out_buflen, in_buf, in_buflen)</PRE
></TD
></TR
></TABLE
><P
></P
><DIV
CLASS="VARIABLELIST"
><P
><B
>Arguments</B
></P
><DL
><DT
><TT
CLASS="PARAMETER"
><I
>l</I
></TT
></DT
><DD
><P
>The "C" label for this structure.</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>funs</I
></TT
></DT
><DD
><P
>The set of interface functions (see below).</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>dev_priv</I
></TT
></DT
><DD
><P
>A placeholder for any device specific data for
this channel.</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>baud</I
></TT
></DT
><DD
><P
>The initial baud rate value
(<SPAN
CLASS="TYPE"
>cyg_serial_baud_t</SPAN
>).</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>stop</I
></TT
></DT
><DD
><P
>The initial stop bits value
(<SPAN
CLASS="TYPE"
>cyg_serial_stop_bits_t</SPAN
>).</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>parity</I
></TT
></DT
><DD
><P
>The initial parity mode value
(<SPAN
CLASS="TYPE"
>cyg_serial_parity_t</SPAN
>).</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>word_length</I
></TT
></DT
><DD
><P
>The initial word length value
(<SPAN
CLASS="TYPE"
>cyg_serial_word_length_t</SPAN
>).</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>flags</I
></TT
></DT
><DD
><P
>The initial driver flags value.</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>out_buf</I
></TT
></DT
><DD
><P
>Pointer to the output
buffer. <TT
CLASS="LITERAL"
>NULL</TT
> if none required.</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>out_buflen</I
></TT
></DT
><DD
><P
>The length of the output buffer.</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>in_buf</I
></TT
></DT
><DD
><P
>pointer to the input
buffer. <TT
CLASS="LITERAL"
>NULL</TT
> if none required.</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>in_buflen</I
></TT
></DT
><DD
><P
>The length of the input buffer. </P
></DD
></DL
></DIV
><P
>If either buffer length is zero, no buffering will take place
in that direction and only polled mode functions will be used.</P
><P
>The interface from the hardware independent driver into the
hardware interface module is contained in the <TT
CLASS="STRUCTFIELD"
><I
>funs</I
></TT
> table.
This is defined by the macro:</P
></DIV
><DIV
CLASS="SECTION"
><H2
CLASS="SECTION"
><A
NAME="AEN10993">Serial Functions Structure</H2
><TABLE
BORDER="5"
BGCOLOR="#E0E0F0"
WIDTH="70%"
><TR
><TD
><PRE
CLASS="PROGRAMLISTING"
>SERIAL_FUNS(l, putc, getc, set_config, start_xmit, stop_xmit)</PRE
></TD
></TR
></TABLE
><P
></P
><DIV
CLASS="VARIABLELIST"
><P
><B
>Arguments</B
></P
><DL
><DT
><TT
CLASS="STRUCTFIELD"
><I
>l</I
></TT
></DT
><DD
><P
>The "C" label for this structure.</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>putc</I
></TT
></DT
><DD
><P
><TT
CLASS="LITERAL"
>bool (*putc)(serial_channel *priv, unsigned char
c)</TT
></P
><P
> This function sends one character to the interface. It should
return <TT
CLASS="LITERAL"
>true</TT
> if the character is actually consumed. It should
return <TT
CLASS="LITERAL"
>false</TT
> if there is no space in the interface
</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>getc</I
></TT
></DT
><DD
><P
><TT
CLASS="LITERAL"
>unsigned char (*getc)(serial_channel *priv)</TT
></P
><P
> This function fetches one character from the interface. It will
be only called in a non-interrupt driven mode, thus it should
wait for a character by polling the device until ready.
</P
></DD
><DT
><TT
CLASS="STRUCTFIELD"
><I
>set_config</I
></TT
></DT
><DD
><P
><TT
CLASS="LITERAL"
>bool (*set_config)(serial_channel
*priv,cyg_serial_info_t *config)</TT
></P
><P
> This function is used to configure the port. It should return
<TT
CLASS="LITERAL"
>true</TT
> if the hardware is updated to match the desired
configuration. It should return <TT
CLASS="LITERAL"
>false</TT
> if the port cannot
support some parameter specified by the given
configuration. E.g. selecting 1.5 stop bits and 8 data bits is
invalid for most serial devices and should not be allowed.
</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>start_xmit</I
></TT
></DT
><DD
><P
><TT
CLASS="LITERAL"
>void (*start_xmit)(serial_channel *priv)</TT
></P
><P
> In interrupt mode, turn on the transmitter and allow for
transmit interrupts.
</P
></DD
><DT
><TT
CLASS="PARAMETER"
><I
>stop_xmit</I
></TT
></DT
><DD
><P
><TT
CLASS="LITERAL"
>void (*stop_xmit)(serial_channel *priv)</TT
></P
><P
>In interrupt mode, turn off the transmitter.</P
></DD
></DL
></DIV
></DIV
><DIV
CLASS="SECTION"
><H2
CLASS="SECTION"
><A
NAME="AEN11042">Callbacks</H2
><P
>The device interface module can execute functions in the
hardware independent driver via <TT
CLASS="LITERAL"
>chan->callbacks</TT
>.
These functions are available:</P
><TABLE
BORDER="5"
BGCOLOR="#E0E0F0"
WIDTH="70%"
><TR
><TD
><PRE
CLASS="PROGRAMLISTING"
>void (*serial_init)( serial_channel *chan )</PRE
></TD
></TR
></TABLE
><P
>This function is used to initialize the serial channel. It
is only required if the channel is being used in interrupt
mode.</P
><TABLE
BORDER="5"
BGCOLOR="#E0E0F0"
WIDTH="70%"
><TR
><TD
><PRE
CLASS="PROGRAMLISTING"
>void (*xmt_char)( serial_channel *chan )</PRE
></TD
></TR
></TABLE
><P
>This function would be called from an interrupt handler after a
transmit interrupt indicating that additional characters may be
sent. The upper driver will call the <TT
CLASS="FUNCTION"
>putc</TT
>
function as appropriate to send more data to the device.</P
><TABLE
BORDER="5"
BGCOLOR="#E0E0F0"
WIDTH="70%"
><TR
><TD
><PRE
CLASS="PROGRAMLISTING"
>void (*rcv_char)( serial_channel *chan, unsigned char c )</PRE
></TD
></TR
></TABLE
><P
>This function is used to tell the driver that a character has arrived
at the interface. This function is typically called from the interrupt
handler. </P
><P
>Furthermore, if the device has a FIFO it should require the hardware
independent driver to provide block transfer functionality (driver CDL
should include "implements
CYGINT_IO_SERIAL_BLOCK_TRANSFER"). In that case, the following
functions are available as well:</P
><TABLE
BORDER="5"
BGCOLOR="#E0E0F0"
WIDTH="70%"
><TR
><TD
><PRE
CLASS="PROGRAMLISTING"
>bool (*data_xmt_req)(serial_channel *chan,
int space,
int* chars_avail,
unsigned char** chars)
void (*data_xmt_done)(serial_channel *chan)</PRE
></TD
></TR
></TABLE
><P
>Instead of calling <TT
CLASS="FUNCTION"
>xmt_char()</TT
> to get a single
character for transmission at a time, the driver should call
<TT
CLASS="FUNCTION"
>data_xmt_req()</TT
> in a loop, requesting character
blocks for transfer. Call with a <TT
CLASS="PARAMETER"
><I
>space</I
></TT
> argument of how much space
there is available in the FIFO.</P
><P
>If the call returns <TT
CLASS="LITERAL"
>true</TT
>, the driver can read
<TT
CLASS="PARAMETER"
><I
>chars_avail</I
></TT
> characters from
<TT
CLASS="PARAMETER"
><I
>chars</I
></TT
> and copy them into the FIFO.</P
><P
>If the call returns <TT
CLASS="LITERAL"
>false</TT
>, there are
no more buffered characters and the driver should continue without
filling up the FIFO.</P
><P
>When all data has been unloaded, the
driver must call <TT
CLASS="FUNCTION"
>data_xmt_done()</TT
>.</P
><TABLE
BORDER="5"
BGCOLOR="#E0E0F0"
WIDTH="70%"
><TR
><TD
><PRE
CLASS="PROGRAMLISTING"
>bool (*data_rcv_req)(serial_channel *chan,
int avail,
int* space_avail,
unsigned char** space)
void (*data_rcv_done)(serial_channel *chan)</PRE
></TD
></TR
></TABLE
><P
>Instead of calling <TT
CLASS="FUNCTION"
>rcv_char()</TT
> with a single
character at a time, the driver should call
<TT
CLASS="FUNCTION"
>data_rcv_req()</TT
> in a loop, requesting space to
unload the FIFO to. <TT
CLASS="PARAMETER"
><I
>avail</I
></TT
> is the number of
characters the driver wishes to unload.</P
><P
>If the call returns <TT
CLASS="LITERAL"
>true</TT
>, the driver can copy
<TT
CLASS="PARAMETER"
><I
>space_avail</I
></TT
> characters to
<TT
CLASS="PARAMETER"
><I
>space</I
></TT
>. </P
><P
>If the call returns <TT
CLASS="LITERAL"
>false</TT
>, the input buffer is
full. It is up to the driver to decide what to do in that case
(callback functions for registering overflow are being planned for
later versions of the serial driver).</P
><P
>When all data has been unloaded, the driver must call
<TT
CLASS="FUNCTION"
>data_rcv_done()</TT
>.</P
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