examples/mini/mini.c
author Florian Pose <fp@igh-essen.com>
Tue, 20 Jan 2009 09:55:32 +0000
branch1.4-foe
changeset 1711 2b017fcc1c6d
parent 1686 e206f4485f60
permissions -rw-r--r--
Introduced configured_[tr]x_mailbox(size|offset) members of slave.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  Using the EtherCAT technology and brand is permitted in compliance with
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 *  the industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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#include <linux/module.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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#include "../../include/ecrt.h" // EtherCAT realtime interface
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/*****************************************************************************/
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// Module parameters
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#define FREQUENCY 100
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// Optional features
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#define CONFIGURE_PDOS  1
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#define EL3152_ALT_PDOS 0
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#define EXTERNAL_MEMORY 1
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#define SDO_ACCESS      0
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#define PFX "ec_mini: "
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/*****************************************************************************/
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_master_state_t master_state = {};
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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static ec_domain_t *domain1 = NULL;
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static ec_domain_state_t domain1_state = {};
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static ec_slave_config_t *sc_ana_in = NULL;
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static ec_slave_config_state_t sc_ana_in_state = {};
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// Timer
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static struct timer_list timer;
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/*****************************************************************************/
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// process data
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static uint8_t *domain1_pd; // process data memory
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#define AnaInSlavePos  0, 1
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#define AnaOutSlavePos 0, 2
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#define DigOutSlavePos 0, 3
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#define Beckhoff_EL2004 0x00000002, 0x07D43052
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#define Beckhoff_EL3152 0x00000002, 0x0c503052
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#define Beckhoff_EL4102 0x00000002, 0x10063052
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// offsets for PDO entries
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static unsigned int off_ana_in;
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static unsigned int off_ana_out;
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static unsigned int off_dig_out;
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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#if EL3152_ALT_PDOS
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    {AnaInSlavePos,  Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
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#else
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    {AnaInSlavePos,  Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
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#endif
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    {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
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    {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
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    {}
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};
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static unsigned int counter = 0;
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static unsigned int blink = 0;
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/*****************************************************************************/
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#if CONFIGURE_PDOS
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// Analog in --------------------------
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static ec_pdo_entry_info_t el3152_pdo_entries[] = {
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    {0x3101, 1,  8}, // channel 1 status
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    {0x3101, 2, 16}, // channel 1 value
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    {0x3102, 1,  8}, // channel 2 status
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    {0x3102, 2, 16}, // channel 2 value
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    {0x6401, 1, 16}, // channel 1 value (alt.)
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    {0x6401, 2, 16}  // channel 2 value (alt.)
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};
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#if EL3152_ALT_PDOS
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static ec_pdo_info_t el3152_pdos[] = {
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    {0x1A10, 2, el3152_pdo_entries + 4},
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};
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static ec_sync_info_t el3152_syncs[] = {
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    {2, EC_DIR_OUTPUT},
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    {3, EC_DIR_INPUT, 1, el3152_pdos},
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    {0xff}
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};
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#else
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static ec_pdo_info_t el3152_pdos[] = {
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    {0x1A00, 2, el3152_pdo_entries},
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    {0x1A01, 2, el3152_pdo_entries + 2}
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};
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static ec_sync_info_t el3152_syncs[] = {
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    {2, EC_DIR_OUTPUT},
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    {3, EC_DIR_INPUT, 1, el3152_pdos},
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    {0xff}
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};
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#endif
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// Analog out -------------------------
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static ec_pdo_entry_info_t el4102_pdo_entries[] = {
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    {0x3001, 1, 16}, // channel 1 value
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    {0x3002, 1, 16}, // channel 2 value
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};
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static ec_pdo_info_t el4102_pdos[] = {
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    {0x1600, 1, el4102_pdo_entries},
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    {0x1601, 1, el4102_pdo_entries + 1}
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};
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static ec_sync_info_t el4102_syncs[] = {
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    {2, EC_DIR_OUTPUT, 2, el4102_pdos},
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    {3, EC_DIR_INPUT},
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    {0xff}
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};
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// Digital out ------------------------
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static ec_pdo_entry_info_t el2004_channels[] = {
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    {0x3001, 1, 1}, // Value 1
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    {0x3001, 2, 1}, // Value 2
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    {0x3001, 3, 1}, // Value 3
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    {0x3001, 4, 1}  // Value 4
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};
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static ec_pdo_info_t el2004_pdos[] = {
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    {0x1600, 1, &el2004_channels[0]},
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    {0x1601, 1, &el2004_channels[1]},
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    {0x1602, 1, &el2004_channels[2]},
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    {0x1603, 1, &el2004_channels[3]}
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};
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static ec_sync_info_t el2004_syncs[] = {
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    {0, EC_DIR_OUTPUT, 4, el2004_pdos},
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    {1, EC_DIR_INPUT},
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    {0xff}
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};
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#endif
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/*****************************************************************************/
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#if SDO_ACCESS
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static ec_sdo_request_t *sdo;
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#endif
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/*****************************************************************************/
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void check_domain1_state(void)
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{
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    ec_domain_state_t ds;
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    spin_lock(&master_lock);
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    ecrt_domain_state(domain1, &ds);
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    spin_unlock(&master_lock);
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    if (ds.working_counter != domain1_state.working_counter)
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        printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
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    if (ds.wc_state != domain1_state.wc_state)
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        printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
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    domain1_state = ds;
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}
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/*****************************************************************************/
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void check_master_state(void)
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{
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    ec_master_state_t ms;
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    spin_lock(&master_lock);
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    ecrt_master_state(master, &ms);
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    spin_unlock(&master_lock);
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    if (ms.slaves_responding != master_state.slaves_responding)
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        printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
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    if (ms.al_states != master_state.al_states)
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        printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
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    if (ms.link_up != master_state.link_up)
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        printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
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    master_state = ms;
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}
220
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/*****************************************************************************/
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1022
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void check_slave_config_states(void)
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{
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    ec_slave_config_state_t s;
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    spin_lock(&master_lock);
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    ecrt_slave_config_state(sc_ana_in, &s);
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    spin_unlock(&master_lock);
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   227
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   228
    if (s.al_state != sc_ana_in_state.al_state)
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        printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
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   230
    if (s.online != sc_ana_in_state.online)
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        printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
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   232
    if (s.operational != sc_ana_in_state.operational)
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   233
        printk(KERN_INFO PFX "AnaIn: %soperational.\n",
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   234
                s.operational ? "" : "Not ");
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   235
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    sc_ana_in_state = s;
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   237
}
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8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
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   239
/*****************************************************************************/
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   240
1171
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   241
#if SDO_ACCESS
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void read_sdo(void)
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{
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    switch (ecrt_sdo_request_state(sdo)) {
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6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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   245
        case EC_SDO_REQUEST_UNUSED: // request was not used yet
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   246
            ecrt_sdo_request_read(sdo); // trigger first read
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            break;
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6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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   248
        case EC_SDO_REQUEST_BUSY:
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   249
            printk(KERN_INFO PFX "Still busy...\n");
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            break;
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   251
        case EC_SDO_REQUEST_SUCCESS:
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   252
            printk(KERN_INFO PFX "SDO value: 0x%04X\n",
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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   253
                    EC_READ_U16(ecrt_sdo_request_data(sdo)));
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93a0180ee938 Minor changes.
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   254
            ecrt_sdo_request_read(sdo); // trigger next read
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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            break;
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   256
        case EC_SDO_REQUEST_ERROR:
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   257
            printk(KERN_INFO PFX "Failed to read SDO!\n");
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   258
            ecrt_sdo_request_read(sdo); // retry reading
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            break;
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   260
    }
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   261
}
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   262
#endif
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/*****************************************************************************/
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   265
820
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void cyclic_task(unsigned long data)
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{
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    // receive process data
220
342ad851ec78 Added examples directory.
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parents:
diff changeset
   269
    spin_lock(&master_lock);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 280
diff changeset
   270
    ecrt_master_receive(master);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   271
    ecrt_domain_process(domain1);
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   272
    spin_unlock(&master_lock);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   273
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   274
    // check process data state (optional)
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   275
    check_domain1_state();
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   276
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   277
    if (counter) {
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   278
        counter--;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   279
    } else { // do this at 1 Hz
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   280
        counter = FREQUENCY;
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   281
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   282
        // calculate new process data
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   283
        blink = !blink;
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   284
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   285
        // check for master state (optional)
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   286
        check_master_state();
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   287
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   288
        // check for islave configuration state(s) (optional)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   289
        check_slave_config_states();
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   290
        
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   291
#if SDO_ACCESS
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   292
        // read process data SDO
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   293
        read_sdo();
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   294
#endif
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   295
    }
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   296
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   297
    // write process data
846
19248bbf9308 Cross blinking.
Florian Pose <fp@igh-essen.com>
parents: 820
diff changeset
   298
    EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   299
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   300
    // send process data
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   301
    spin_lock(&master_lock);
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents: 472
diff changeset
   302
    ecrt_domain_queue(domain1);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 280
diff changeset
   303
    ecrt_master_send(master);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   304
    spin_unlock(&master_lock);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   305
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
    // restart timer
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
    timer.expires += HZ / FREQUENCY;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
    add_timer(&timer);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   309
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   312
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   313
int request_lock(void *data)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
{
516
f703e33ee395 Adjusted examples to EtherLab starter kit hardware.
Florian Pose <fp@igh-essen.com>
parents: 513
diff changeset
   315
    spin_lock(&master_lock);
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   316
    return 0; // access allowed
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   318
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   319
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   320
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
void release_lock(void *data)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   322
{
516
f703e33ee395 Adjusted examples to EtherLab starter kit hardware.
Florian Pose <fp@igh-essen.com>
parents: 513
diff changeset
   323
    spin_unlock(&master_lock);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   325
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   326
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   328
int __init init_mini_module(void)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   329
{
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   330
#if CONFIGURE_PDOS
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   331
    ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   332
#endif
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   333
#if EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   334
    unsigned int size;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   335
#endif
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   336
    
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   337
    printk(KERN_INFO PFX "Starting...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents: 472
diff changeset
   339
    if (!(master = ecrt_request_master(0))) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   340
        printk(KERN_ERR PFX "Requesting master 0 failed!\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
        goto out_return;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
    }
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
    ecrt_master_callbacks(master, request_lock, release_lock, NULL);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   346
    printk(KERN_INFO PFX "Registering domain...\n");
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents: 472
diff changeset
   347
    if (!(domain1 = ecrt_master_create_domain(master))) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   348
        printk(KERN_ERR PFX "Domain creation failed!\n");
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   349
        goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   350
    }
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   351
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   352
    if (!(sc_ana_in = ecrt_master_slave_config(
1179
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   353
                    master, AnaInSlavePos, Beckhoff_EL3152))) {
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   354
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   355
        goto out_release_master;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   356
    }
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   357
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   358
#if CONFIGURE_PDOS
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   359
    printk(KERN_INFO PFX "Configuring PDOs...\n");
1179
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   360
    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   361
        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
1179
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   362
        goto out_release_master;
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   363
    }
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   364
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   365
    if (!(sc = ecrt_master_slave_config(
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   366
                    master, AnaOutSlavePos, Beckhoff_EL4102))) {
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   367
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   368
        goto out_release_master;
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   369
    }
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   370
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   371
    if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   372
        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   373
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   374
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   375
1080
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 1061
diff changeset
   376
    if (!(sc = ecrt_master_slave_config(
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 1061
diff changeset
   377
                    master, DigOutSlavePos, Beckhoff_EL2004))) {
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   378
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   379
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   380
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   381
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1080
diff changeset
   382
    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
   383
        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   384
        goto out_release_master;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   385
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   386
#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   387
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   388
#if SDO_ACCESS
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   389
    printk(KERN_INFO PFX "Creating SDO requests...\n");
1026
021b8cdeb384 Minor changes to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   390
    if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   391
        printk(KERN_ERR PFX "Failed to create SDO request.\n");
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   392
        goto out_release_master;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   393
    }
1026
021b8cdeb384 Minor changes to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   394
    ecrt_sdo_request_timeout(sdo, 500); // ms
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   395
#endif
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   396
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   397
    printk(KERN_INFO PFX "Registering PDO entries...\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   398
    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
   399
        printk(KERN_ERR PFX "PDO entry registration failed!\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   400
        goto out_release_master;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   401
    }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   402
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   403
#if EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   404
    if ((size = ecrt_domain_size(domain1))) {
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   405
        if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   406
            printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   407
                    " memory!\n", size);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   408
            goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   409
        }
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   410
        ecrt_domain_external_memory(domain1, domain1_pd);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   411
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   412
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   413
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   414
    printk(KERN_INFO PFX "Activating master...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
    if (ecrt_master_activate(master)) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   416
        printk(KERN_ERR PFX "Failed to activate master!\n");
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   417
#if EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   418
        goto out_free_process_data;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   419
#else
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   420
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   421
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   422
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   423
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   424
#if !EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   425
    // Get internal process data for domain
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   426
    domain1_pd = ecrt_domain_data(domain1);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   427
#endif
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   428
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   429
    printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
    init_timer(&timer);
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   431
    timer.function = cyclic_task;
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
    timer.expires = jiffies + 10;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
    add_timer(&timer);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   435
    printk(KERN_INFO PFX "Started.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
    return 0;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   438
#if EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   439
out_free_process_data:
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   440
    kfree(domain1_pd);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   441
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   442
out_release_master:
654
8278e1e27010 Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   443
    printk(KERN_ERR PFX "Releasing master...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
    ecrt_release_master(master);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   445
out_return:
654
8278e1e27010 Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   446
    printk(KERN_ERR PFX "Failed to load. Aborting.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
    return -1;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
void __exit cleanup_mini_module(void)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
{
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   454
    printk(KERN_INFO PFX "Stopping...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   456
    del_timer_sync(&timer);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   457
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   458
#if EXTERNAL_MEMORY
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   459
    kfree(domain1_pd);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   460
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   461
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   462
    printk(KERN_INFO PFX "Releasing master...\n");
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   463
    ecrt_release_master(master);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
654
8278e1e27010 Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   465
    printk(KERN_INFO PFX "Unloading.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
MODULE_LICENSE("GPL");
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   471
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   472
MODULE_DESCRIPTION("EtherCAT minimal test environment");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
module_init(init_mini_module);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
module_exit(cleanup_mini_module);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
/*****************************************************************************/