| author | Florian Pose <fp@igh-essen.com> |
| Thu, 18 May 2006 12:35:47 +0000 | |
| changeset 246 | 0bf7c769de06 |
| parent 226 | 07247920a7ba |
| child 275 | ba51285d4ef6 |
| permissions | -rw-r--r-- |
| 220 | 1 |
/****************************************************************************** |
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* |
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* m i n i . c |
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* |
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* Minimal module for EtherCAT. |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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0bf7c769de06
Changed license headers and added EtherCAT license notice.
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parents:
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diff
changeset
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* as published by the Free Software Foundation; either version 2 of the |
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0bf7c769de06
Changed license headers and added EtherCAT license notice.
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parents:
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diff
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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246
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
226
diff
changeset
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* The right to use EtherCAT Technology is granted and comes free of |
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0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
226
diff
changeset
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* charge under condition of compatibility of product made by |
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0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
226
diff
changeset
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* Licensee. People intending to distribute/sell products based on the |
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0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
226
diff
changeset
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* code, have to sign an agreement to guarantee that products using |
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0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
226
diff
changeset
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* software based on IgH EtherCAT master stay compatible with the actual |
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0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
226
diff
changeset
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* EtherCAT specification (which are released themselves as an open |
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0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
226
diff
changeset
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* standard) as the (only) precondition to have the right to use EtherCAT |
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0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
226
diff
changeset
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* Technology, IP and trade marks. |
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0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
226
diff
changeset
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* |
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*****************************************************************************/ |
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#include <linux/module.h> |
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#include <linux/delay.h> |
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#include <linux/timer.h> |
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#include <linux/spinlock.h> |
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#include <linux/interrupt.h> |
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Applied new path information to example modules.
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#include "../../include/ecrt.h" // EtherCAT realtime interface |
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#define ASYNC |
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#define FREQUENCY 100 |
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/*****************************************************************************/ |
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struct timer_list timer; |
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// EtherCAT |
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ec_master_t *master = NULL; |
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ec_domain_t *domain1 = NULL; |
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED; |
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// data fields |
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//void *r_ssi_input, *r_ssi_status, *r_4102[3]; |
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// channels |
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uint32_t k_pos; |
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uint8_t k_stat; |
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ec_field_init_t domain1_fields[] = {
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{NULL, "3", "Beckhoff", "EL5001", "InputValue", 0},
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{NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
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{}
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}; |
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/*****************************************************************************/ |
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void run(unsigned long data) |
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{
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static unsigned int counter = 0; |
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spin_lock(&master_lock); |
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#ifdef ASYNC |
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// receive |
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ecrt_master_async_receive(master); |
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ecrt_domain_process(domain1); |
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#else |
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// send and receive |
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ecrt_domain_queue(domain1); |
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ecrt_master_run(master); |
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ecrt_master_sync_io(master); |
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ecrt_domain_process(domain1); |
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#endif |
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// process data |
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//k_pos = EC_READ_U32(r_ssi); |
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#ifdef ASYNC |
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// send |
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ecrt_domain_queue(domain1); |
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ecrt_master_run(master); |
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ecrt_master_async_send(master); |
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#endif |
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spin_unlock(&master_lock); |
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if (counter) {
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counter--; |
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} |
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else {
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counter = FREQUENCY; |
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//printk(KERN_INFO "k_pos = %i\n", k_pos); |
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//printk(KERN_INFO "k_stat = 0x%02X\n", k_stat); |
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} |
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// restart timer |
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timer.expires += HZ / FREQUENCY; |
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add_timer(&timer); |
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} |
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/*****************************************************************************/ |
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int request_lock(void *data) |
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{
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07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
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spin_lock_bh(&master_lock); |
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07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
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return 0; // access allowed |
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} |
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/*****************************************************************************/ |
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void release_lock(void *data) |
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{
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226
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents:
223
diff
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spin_unlock_bh(&master_lock); |
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} |
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/*****************************************************************************/ |
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int __init init_mini_module(void) |
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{
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printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); |
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if ((master = ecrt_request_master(0)) == NULL) {
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printk(KERN_ERR "Requesting master 0 failed!\n"); |
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goto out_return; |
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} |
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ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
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printk(KERN_INFO "Registering domain...\n"); |
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if (!(domain1 = ecrt_master_create_domain(master))) |
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{
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printk(KERN_ERR "Domain creation failed!\n"); |
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goto out_release_master; |
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} |
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printk(KERN_INFO "Registering domain fields...\n"); |
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if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
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printk(KERN_ERR "Field registration failed!\n"); |
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goto out_release_master; |
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} |
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printk(KERN_INFO "Activating master...\n"); |
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if (ecrt_master_activate(master)) {
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printk(KERN_ERR "Failed to activate master!\n"); |
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goto out_release_master; |
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} |
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#if 0 |
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if (ecrt_master_fetch_sdo_lists(master)) {
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printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
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goto out_deactivate; |
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} |
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ecrt_master_print(master, 2); |
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#else |
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ecrt_master_print(master, 0); |
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#endif |
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#if 0 |
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if (!(slave = ecrt_master_get_slave(master, "5"))) {
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printk(KERN_ERR "Failed to get slave 5!\n"); |
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goto out_deactivate; |
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} |
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if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) || |
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ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) || |
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ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || |
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ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) || |
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ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) || |
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ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || |
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ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || |
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ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || |
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ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
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printk(KERN_ERR "Failed to configure SSI slave!\n"); |
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goto out_deactivate; |
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} |
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#endif |
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#if 0 |
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printk(KERN_INFO "Writing alias...\n"); |
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if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
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printk(KERN_ERR "Failed to write alias!\n"); |
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goto out_deactivate; |
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} |
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#endif |
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#ifdef ASYNC |
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// send once and wait... |
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ecrt_master_prepare_async_io(master); |
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#endif |
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#if 1 |
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if (ecrt_master_start_eoe(master)) {
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printk(KERN_ERR "Failed to start EoE processing!\n"); |
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goto out_deactivate; |
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} |
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#endif |
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printk("Starting cyclic sample thread.\n");
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init_timer(&timer); |
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timer.function = run; |
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timer.expires = jiffies + 10; |
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add_timer(&timer); |
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printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n"); |
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return 0; |
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#if 1 |
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out_deactivate: |
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ecrt_master_deactivate(master); |
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#endif |
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out_release_master: |
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ecrt_release_master(master); |
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out_return: |
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return -1; |
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} |
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/*****************************************************************************/ |
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void __exit cleanup_mini_module(void) |
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{
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printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n"); |
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if (master) {
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del_timer_sync(&timer); |
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printk(KERN_INFO "Deactivating master...\n"); |
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ecrt_master_deactivate(master); |
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ecrt_release_master(master); |
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} |
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printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n"); |
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} |
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/*****************************************************************************/ |
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MODULE_LICENSE("GPL");
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MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
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MODULE_DESCRIPTION ("EtherCAT minimal test environment");
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module_init(init_mini_module); |
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module_exit(cleanup_mini_module); |
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/*****************************************************************************/ |
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