etherlabmaster: examples/rtai/rtai_sample.c@11ec009e145d (annotated)

220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	3	* RTAI sample for the IgH EtherCAT master.
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* $Id$
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	7	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* This file is part of the IgH EtherCAT Master.
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	11	* The IgH EtherCAT Master is free software; you can redistribute it and/or
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	12	* modify it under the terms of the GNU General Public License version 2, as
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	13	* published by the Free Software Foundation.
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	14	*
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	15	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	16	* but WITHOUT ANY WARRANTY; without even the implied warranty of
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	17	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	18	* Public License for more details.
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	19	*
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	20	* You should have received a copy of the GNU General Public License along
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	21	* with the IgH EtherCAT Master; if not, write to the Free Software
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	24	* Using the EtherCAT technology and brand is permitted in compliance with
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1681 diff changeset	25	* the industrial property and similar rights of Beckhoff Automation GmbH.
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 233 diff changeset	26	*
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	28
233 31d327ce38d3 Smaller fixes on RTAI example. Florian Pose <fp@igh-essen.com> parents: 230 diff changeset	29	// Linux
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	#include <linux/module.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	31
230 382bdb9138ec RTAI sample with optimized jitter. Florian Pose <fp@igh-essen.com> parents: 227 diff changeset	32	// RTAI
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	33	#include <rtai_sched.h>
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	34	#include <rtai_sem.h>
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	35
233 31d327ce38d3 Smaller fixes on RTAI example. Florian Pose <fp@igh-essen.com> parents: 230 diff changeset	36	// EtherCAT
230 382bdb9138ec RTAI sample with optimized jitter. Florian Pose <fp@igh-essen.com> parents: 227 diff changeset	37	#include "../../include/ecrt.h"
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	38
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	39	/*****************************************************************************/
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	40
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	41	// Module parameters
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	42
1681 6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	43	#define FREQUENCY 2000 // task frequency in Hz
342 cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	44	#define INHIBIT_TIME 20
cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	45
230 382bdb9138ec RTAI sample with optimized jitter. Florian Pose <fp@igh-essen.com> parents: 227 diff changeset	46	#define TIMERTICKS (1000000000 / FREQUENCY)
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	47
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	48	// Optional features (comment to disable)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	49	#define CONFIGURE_PDOS
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	50
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	51	#define PFX "ec_rtai_sample: "
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	52
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	53	/*****************************************************************************/
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	54
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	55	// EtherCAT
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	56	static ec_master_t *master = NULL;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	57	static ec_master_state_t master_state = {};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	58	spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	59
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	60	static ec_domain_t *domain1 = NULL;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	61	static ec_domain_state_t domain1_state = {};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	62
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	63	static ec_slave_config_t *sc_ana_in = NULL;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	64	static ec_slave_config_state_t sc_ana_in_state = {};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	65
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	66	// RTAI
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	67	static RT_TASK task;
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	68	static SEM master_sem;
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	69	static cycles_t t_last_cycle = 0, t_critical;
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	70
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	71	/*****************************************************************************/
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	72
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	73	// process data
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	74	static uint8_t *domain1_pd; // process data memory
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	75
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	76	#define AnaInSlavePos 0, 1
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	77	#define DigOutSlavePos 0, 3
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	78
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	79	#define Beckhoff_EL2004 0x00000002, 0x07D43052
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	80	#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	81
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	82	static unsigned int off_ana_in; // offsets for PDO entries
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	83	static unsigned int off_dig_out;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	84
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	85	const static ec_pdo_entry_reg_t domain1_regs[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	86	{AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	87	{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	{}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	};
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	90
1681 6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	91	static unsigned int counter = 0;
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	92	static unsigned int blink = 0;
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	93
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	94	/*****************************************************************************/
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	95
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	96	#ifdef CONFIGURE_PDOS
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	97	static ec_pdo_entry_info_t el3162_channel1[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	98	{0x3101, 1, 8}, // status
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	99	{0x3101, 2, 16} // value
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	100	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	101
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	102	static ec_pdo_entry_info_t el3162_channel2[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	103	{0x3102, 1, 8}, // status
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	104	{0x3102, 2, 16} // value
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	105	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	106
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	107	static ec_pdo_info_t el3162_pdos[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	108	{0x1A00, 2, el3162_channel1},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	109	{0x1A01, 2, el3162_channel2}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	110	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	111
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	112	static ec_sync_info_t el3162_syncs[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	113	{2, EC_DIR_OUTPUT},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	114	{3, EC_DIR_INPUT, 2, el3162_pdos},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	115	{0xff}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	116	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	117
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	118	static ec_pdo_entry_info_t el2004_channels[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	119	{0x3001, 1, 1}, // Value 1
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	120	{0x3001, 2, 1}, // Value 2
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	121	{0x3001, 3, 1}, // Value 3
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	122	{0x3001, 4, 1} // Value 4
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	123	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	124
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	125	static ec_pdo_info_t el2004_pdos[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	126	{0x1600, 1, &el2004_channels[0]},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	127	{0x1601, 1, &el2004_channels[1]},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	128	{0x1602, 1, &el2004_channels[2]},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	129	{0x1603, 1, &el2004_channels[3]}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	130	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	131
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	132	static ec_sync_info_t el2004_syncs[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	133	{0, EC_DIR_OUTPUT, 4, el2004_pdos},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	134	{1, EC_DIR_INPUT},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	135	{0xff}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	136	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	137	#endif
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	138
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	139	/*****************************************************************************/
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	140
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	141	void check_domain1_state(void)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	142	{
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	143	ec_domain_state_t ds;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	144
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	145	spin_lock(&master_lock);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	146	ecrt_domain_state(domain1, &ds);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	147	spin_unlock(&master_lock);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	148
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	149	if (ds.working_counter != domain1_state.working_counter)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	150	printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	151	if (ds.wc_state != domain1_state.wc_state)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	152	printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	153
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	154	domain1_state = ds;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	155	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	156
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	157	/*****************************************************************************/
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	158
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	159	void check_master_state(void)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	160	{
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	161	ec_master_state_t ms;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	162
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	163	spin_lock(&master_lock);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	164	ecrt_master_state(master, &ms);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	165	spin_unlock(&master_lock);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	166
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	167	if (ms.slaves_responding != master_state.slaves_responding)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	168	printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	169	if (ms.al_states != master_state.al_states)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	170	printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	171	if (ms.link_up != master_state.link_up)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	172	printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	173
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	174	master_state = ms;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	175	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	176
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	177	/*****************************************************************************/
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	178
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	179	void check_slave_config_states(void)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	180	{
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	181	ec_slave_config_state_t s;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	182
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	183	spin_lock(&master_lock);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	184	ecrt_slave_config_state(sc_ana_in, &s);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	185	spin_unlock(&master_lock);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	186
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	187	if (s.al_state != sc_ana_in_state.al_state)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	188	printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	189	if (s.online != sc_ana_in_state.online)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	190	printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	191	if (s.operational != sc_ana_in_state.operational)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	192	printk(KERN_INFO PFX "AnaIn: %soperational.\n",
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	193	s.operational ? "" : "Not ");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	194
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	195	sc_ana_in_state = s;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	196	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	197
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	199
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	200	void run(long data)
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	201	{
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	202	while (1) {
342 cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	203	t_last_cycle = get_cycles();
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	204
1681 6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	205	// receive process data
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	206	rt_sem_wait(&master_sem);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	207	ecrt_master_receive(master);
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	208	ecrt_domain_process(domain1);
1681 6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	209	rt_sem_signal(&master_sem);
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	210
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	211	// check process data state (optional)
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	212	check_domain1_state();
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	213
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	214	if (counter) {
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	215	counter--;
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	216	} else { // do this at 1 Hz
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	217	counter = FREQUENCY;
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	218
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	219	// calculate new process data
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	220	blink = !blink;
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	221
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	222	// check for master state (optional)
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	223	check_master_state();
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	224
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	225	// check for islave configuration state(s) (optional)
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	226	check_slave_config_states();
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	227	}
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	228
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	229	// write process data
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	230	EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	231
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	232	rt_sem_wait(&master_sem);
1680 8765cdafdc17 TODO. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	233	ecrt_domain_queue(domain1);
8765cdafdc17 TODO. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	234	ecrt_master_send(master);
1681 6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	235	rt_sem_signal(&master_sem);
516 f703e33ee395 Adjusted examples to EtherLab starter kit hardware. Florian Pose <fp@igh-essen.com> parents: 512 diff changeset	236
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	237	rt_task_wait_period();
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	238	}
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	240
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	242
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	243	int request_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	{
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	245	// too close to the next real time cycle: deny access...
342 cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	246	if (get_cycles() - t_last_cycle > t_critical) return -1;
230 382bdb9138ec RTAI sample with optimized jitter. Florian Pose <fp@igh-essen.com> parents: 227 diff changeset	247
382bdb9138ec RTAI sample with optimized jitter. Florian Pose <fp@igh-essen.com> parents: 227 diff changeset	248	// allow access
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	249	rt_sem_wait(&master_sem);
230 382bdb9138ec RTAI sample with optimized jitter. Florian Pose <fp@igh-essen.com> parents: 227 diff changeset	250	return 0;
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	252
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	254
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	255	void release_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	256	{
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	257	rt_sem_signal(&master_sem);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	258	}
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	259
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	260	/*****************************************************************************/
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	261
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	262	int __init init_mod(void)
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	263	{
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	264	RTIME tick_period, requested_ticks, now;
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	265	#ifdef CONFIGURE_PDOS
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	266	ec_slave_config_t *sc;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	267	#endif
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	268
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	269	printk(KERN_INFO PFX "Starting...\n");
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	270
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	271	rt_sem_init(&master_sem, 1);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	272
342 cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	273	t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	274
cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	275	if (!(master = ecrt_request_master(0))) {
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	276	printk(KERN_ERR PFX "Requesting master 0 failed!\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	goto out_return;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	279
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	ecrt_master_callbacks(master, request_lock, release_lock, NULL);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	281
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	282	printk(KERN_INFO PFX "Registering domain...\n");
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	283	if (!(domain1 = ecrt_master_create_domain(master))) {
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	284	printk(KERN_ERR PFX "Domain creation failed!\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	goto out_release_master;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	287
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	288	if (!(sc_ana_in = ecrt_master_slave_config(
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	289	master, AnaInSlavePos, Beckhoff_EL3162))) {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	290	printk(KERN_ERR PFX "Failed to get slave configuration.\n");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	291	goto out_release_master;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	292	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	293
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	294	#ifdef CONFIGURE_PDOS
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	295	printk(KERN_INFO PFX "Configuring PDOs...\n");
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1080 diff changeset	296	if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	297	printk(KERN_ERR PFX "Failed to configure PDOs.\n");
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	298	goto out_release_master;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	299	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	300
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	301	if (!(sc = ecrt_master_slave_config(master, DigOutSlavePos, Beckhoff_EL2004))) {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	302	printk(KERN_ERR PFX "Failed to get slave configuration.\n");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	303	goto out_release_master;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	304	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	305
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1080 diff changeset	306	if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	307	printk(KERN_ERR PFX "Failed to configure PDOs.\n");
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	308	goto out_release_master;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	309	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	310	#endif
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	311
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	312	printk(KERN_INFO PFX "Registering PDO entries...\n");
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	313	if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	314	printk(KERN_ERR PFX "PDO entry registration failed!\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	315	goto out_release_master;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	316	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	317
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	318	printk(KERN_INFO PFX "Activating master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	319	if (ecrt_master_activate(master)) {
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	320	printk(KERN_ERR PFX "Failed to activate master!\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	goto out_release_master;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	323
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	324	// Get internal process data for domain
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	325	domain1_pd = ecrt_domain_data(domain1);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	326
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	327	printk(KERN_INFO PFX "Starting cyclic sample thread...\n");
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	328	requested_ticks = nano2count(TIMERTICKS);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	329	tick_period = start_rt_timer(requested_ticks);
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	330	printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n",
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	331	(int) tick_period, (int) requested_ticks);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	332
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	333	if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	334	printk(KERN_ERR PFX "Failed to init RTAI task!\n");
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	335	goto out_stop_timer;
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	336	}
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	337
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	338	now = rt_get_time();
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	339	if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	340	printk(KERN_ERR PFX "Failed to run RTAI task!\n");
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	341	goto out_stop_task;
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	342	}
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	343
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	344	printk(KERN_INFO PFX "Initialized.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	return 0;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	346
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	347	out_stop_task:
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	348	rt_task_delete(&task);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	349	out_stop_timer:
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	350	stop_rt_timer();
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	351	out_release_master:
655 3702f0d6693b Merged changes of examples/mini/mini.c -r858:859 to Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	352	printk(KERN_ERR PFX "Releasing master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	ecrt_release_master(master);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	354	out_return:
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	355	rt_sem_delete(&master_sem);
655 3702f0d6693b Merged changes of examples/mini/mini.c -r858:859 to Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	356	printk(KERN_ERR PFX "Failed to load. Aborting.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	return -1;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	358	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	359
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	360	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	361
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	362	void __exit cleanup_mod(void)
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	363	{
655 3702f0d6693b Merged changes of examples/mini/mini.c -r858:859 to Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	364	printk(KERN_INFO PFX "Stopping...\n");
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	365
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	366	rt_task_delete(&task);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	367	stop_rt_timer();
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	368	ecrt_release_master(master);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	369	rt_sem_delete(&master_sem);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	370
655 3702f0d6693b Merged changes of examples/mini/mini.c -r858:859 to Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	371	printk(KERN_INFO PFX "Unloading.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	372	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	373
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	374	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	375
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	376	MODULE_LICENSE("GPL");
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	377	MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	378	MODULE_DESCRIPTION("EtherCAT RTAI sample module");
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	379
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	380	module_init(init_mod);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	381	module_exit(cleanup_mod);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	382
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	383	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 19 Jan 2009 10:18:41 +0000
branch	1.4-foe
changeset 1707	11ec009e145d
parent 1686	e206f4485f60
permissions	-rw-r--r--