author | Florian Pose <fp@igh-essen.com> |
Fri, 13 May 2011 15:34:20 +0200 | |
changeset 2068 | 3001f6523e63 |
parent 2024 | 96e2ae6cce95 |
child 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
220 | 1 |
/****************************************************************************** |
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* |
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* RTAI sample for the IgH EtherCAT master. |
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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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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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// Linux |
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#include <linux/module.h> |
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#include <linux/err.h> |
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// RTAI |
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#include <rtai_sched.h> |
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#include <rtai_sem.h> |
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// EtherCAT |
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#include "../../include/ecrt.h" |
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/*****************************************************************************/ |
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// Module parameters |
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#define FREQUENCY 2000 // task frequency in Hz |
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#define INHIBIT_TIME 20 |
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#define TIMERTICKS (1000000000 / FREQUENCY) |
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// Optional features (comment to disable) |
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#define CONFIGURE_PDOS |
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#define PFX "ec_rtai_sample: " |
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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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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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// RTAI |
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static RT_TASK task; |
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static SEM master_sem; |
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static cycles_t t_last_cycle = 0, t_critical; |
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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, 3 |
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#define DigOutSlavePos 0, 2 |
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#define Beckhoff_EL2004 0x00000002, 0x07D43052 |
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#define Beckhoff_EL3162 0x00000002, 0x0C5A3052 |
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static unsigned int off_ana_in; // offsets for PDO entries |
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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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{AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in}, |
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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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#ifdef CONFIGURE_PDOS |
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static ec_pdo_entry_info_t el3162_channel1[] = { |
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{0x3101, 1, 8}, // status |
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{0x3101, 2, 16} // value |
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}; |
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static ec_pdo_entry_info_t el3162_channel2[] = { |
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{0x3102, 1, 8}, // status |
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{0x3102, 2, 16} // value |
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}; |
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static ec_pdo_info_t el3162_pdos[] = { |
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{0x1A00, 2, el3162_channel1}, |
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{0x1A01, 2, el3162_channel2} |
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}; |
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static ec_sync_info_t el3162_syncs[] = { |
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{2, EC_DIR_OUTPUT}, |
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{3, EC_DIR_INPUT, 2, el3162_pdos}, |
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{0xff} |
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}; |
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|
121 |
static ec_pdo_entry_info_t el2004_channels[] = { |
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{0x3001, 1, 1}, // Value 1 |
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|
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{0x3001, 2, 1}, // Value 2 |
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{0x3001, 3, 1}, // Value 3 |
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|
125 |
{0x3001, 4, 1} // Value 4 |
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|
126 |
}; |
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|
127 |
|
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|
128 |
static ec_pdo_info_t el2004_pdos[] = { |
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|
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{0x1600, 1, &el2004_channels[0]}, |
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|
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{0x1601, 1, &el2004_channels[1]}, |
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|
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{0x1602, 1, &el2004_channels[2]}, |
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|
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{0x1603, 1, &el2004_channels[3]} |
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|
133 |
}; |
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|
134 |
|
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|
135 |
static ec_sync_info_t el2004_syncs[] = { |
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|
136 |
{0, EC_DIR_OUTPUT, 4, el2004_pdos}, |
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|
137 |
{1, EC_DIR_INPUT}, |
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|
138 |
{0xff} |
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|
139 |
}; |
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|
140 |
#endif |
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|
141 |
|
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142 |
/*****************************************************************************/ |
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|
143 |
|
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|
144 |
void check_domain1_state(void) |
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|
145 |
{ |
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|
146 |
ec_domain_state_t ds; |
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|
147 |
|
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|
148 |
rt_sem_wait(&master_sem); |
1080
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ecrt_domain_state(domain1, &ds); |
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rt_sem_signal(&master_sem); |
1080
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|
151 |
|
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152 |
if (ds.working_counter != domain1_state.working_counter) |
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153 |
printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter); |
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|
154 |
if (ds.wc_state != domain1_state.wc_state) |
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|
155 |
printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state); |
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|
156 |
|
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|
157 |
domain1_state = ds; |
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|
158 |
} |
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|
159 |
|
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|
160 |
/*****************************************************************************/ |
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|
161 |
|
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|
162 |
void check_master_state(void) |
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|
163 |
{ |
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164 |
ec_master_state_t ms; |
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|
165 |
|
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|
166 |
rt_sem_wait(&master_sem); |
1080
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|
167 |
ecrt_master_state(master, &ms); |
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168 |
rt_sem_signal(&master_sem); |
1080
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|
169 |
|
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|
170 |
if (ms.slaves_responding != master_state.slaves_responding) |
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|
171 |
printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding); |
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|
172 |
if (ms.al_states != master_state.al_states) |
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|
173 |
printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states); |
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|
174 |
if (ms.link_up != master_state.link_up) |
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|
175 |
printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down"); |
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|
176 |
|
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|
177 |
master_state = ms; |
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|
178 |
} |
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|
179 |
|
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|
180 |
/*****************************************************************************/ |
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|
181 |
|
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|
182 |
void check_slave_config_states(void) |
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|
183 |
{ |
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|
184 |
ec_slave_config_state_t s; |
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|
185 |
|
1500
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|
186 |
rt_sem_wait(&master_sem); |
1080
088a61306930
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|
187 |
ecrt_slave_config_state(sc_ana_in, &s); |
1500
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|
188 |
rt_sem_signal(&master_sem); |
1080
088a61306930
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|
189 |
|
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|
190 |
if (s.al_state != sc_ana_in_state.al_state) |
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|
191 |
printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state); |
088a61306930
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|
192 |
if (s.online != sc_ana_in_state.online) |
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|
193 |
printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline"); |
088a61306930
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parents:
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|
194 |
if (s.operational != sc_ana_in_state.operational) |
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|
195 |
printk(KERN_INFO PFX "AnaIn: %soperational.\n", |
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|
196 |
s.operational ? "" : "Not "); |
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|
197 |
|
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|
198 |
sc_ana_in_state = s; |
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|
199 |
} |
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|
200 |
|
220 | 201 |
/*****************************************************************************/ |
202 |
||
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
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|
203 |
void run(long data) |
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Applied RTAI interface to RTAI example.
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|
204 |
{ |
512
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
205 |
while (1) { |
342
cbcff2f19e99
RTAI example with INHIBIT time.
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parents:
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diff
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|
206 |
t_last_cycle = get_cycles(); |
512
24292123d174
Shorter critical sections in examples.
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parents:
509
diff
changeset
|
207 |
|
1080
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|
208 |
// receive process data |
225
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Applied RTAI interface to RTAI example.
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|
209 |
rt_sem_wait(&master_sem); |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
210 |
ecrt_master_receive(master); |
225
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Applied RTAI interface to RTAI example.
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|
211 |
ecrt_domain_process(domain1); |
512
24292123d174
Shorter critical sections in examples.
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diff
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|
212 |
rt_sem_signal(&master_sem); |
325
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|
213 |
|
1080
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|
214 |
// check process data state (optional) |
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|
215 |
check_domain1_state(); |
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|
216 |
|
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|
217 |
if (counter) { |
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|
218 |
counter--; |
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changeset
|
219 |
} else { // do this at 1 Hz |
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changeset
|
220 |
counter = FREQUENCY; |
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diff
changeset
|
221 |
|
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diff
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|
222 |
// calculate new process data |
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diff
changeset
|
223 |
blink = !blink; |
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changeset
|
224 |
|
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|
225 |
// check for master state (optional) |
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|
226 |
check_master_state(); |
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|
227 |
|
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|
228 |
// check for islave configuration state(s) (optional) |
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|
229 |
check_slave_config_states(); |
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|
230 |
} |
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changeset
|
231 |
|
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
232 |
// write process data |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
233 |
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
234 |
|
512
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
235 |
rt_sem_wait(&master_sem); |
509
87baea61d0c7
Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents:
449
diff
changeset
|
236 |
ecrt_domain_queue(domain1); |
2024
96e2ae6cce95
ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents:
1935
diff
changeset
|
237 |
rt_sem_signal(&master_sem); |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
259
diff
changeset
|
238 |
ecrt_master_send(master); |
1508 | 239 |
|
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
240 |
rt_task_wait_period(); |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
241 |
} |
220 | 242 |
} |
243 |
||
244 |
/*****************************************************************************/ |
|
245 |
||
2024
96e2ae6cce95
ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents:
1935
diff
changeset
|
246 |
void request_lock_callback(void *cb_data) |
1513
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
247 |
{ |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
248 |
ec_master_t *m = (ec_master_t *) cb_data; |
2024
96e2ae6cce95
ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents:
1935
diff
changeset
|
249 |
rt_sem_wait(&master_sem); |
96e2ae6cce95
ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents:
1935
diff
changeset
|
250 |
} |
96e2ae6cce95
ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents:
1935
diff
changeset
|
251 |
|
96e2ae6cce95
ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents:
1935
diff
changeset
|
252 |
/*****************************************************************************/ |
96e2ae6cce95
ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents:
1935
diff
changeset
|
253 |
|
96e2ae6cce95
ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents:
1935
diff
changeset
|
254 |
void release_lock_callback(void *cb_data) |
1513
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
255 |
{ |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
256 |
ec_master_t *m = (ec_master_t *) cb_data; |
2024
96e2ae6cce95
ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents:
1935
diff
changeset
|
257 |
rt_sem_signal(&master_sem); |
225
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 |
{ |
1239
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1082
diff
changeset
|
264 |
int ret = -1; |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
265 |
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
|
266 |
#ifdef CONFIGURE_PDOS |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
267 |
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
|
268 |
#endif |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
269 |
|
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
270 |
printk(KERN_INFO PFX "Starting...\n"); |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
271 |
|
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
272 |
rt_sem_init(&master_sem, 1); |
220 | 273 |
|
342
cbcff2f19e99
RTAI example with INHIBIT time.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
274 |
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
|
275 |
|
1239
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1082
diff
changeset
|
276 |
master = ecrt_request_master(0); |
1935
8ea1033bd4c2
Fixed NULL pointer dereference on request error in RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
1513
diff
changeset
|
277 |
if (!master) { |
8ea1033bd4c2
Fixed NULL pointer dereference on request error in RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
1513
diff
changeset
|
278 |
ret = -EBUSY; |
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
279 |
printk(KERN_ERR PFX "Requesting master 0 failed!\n"); |
220 | 280 |
goto out_return; |
281 |
} |
|
282 |
||
2024
96e2ae6cce95
ecrt_master_callbacks: replaced send/receive callback mechanism with locking mechanism; removed ecrt_master_send_ext
Martin Troxler <ch1010277@ch10pc446>
parents:
1935
diff
changeset
|
283 |
ecrt_master_callbacks(master, request_lock_callback, release_lock_callback, master); |
220 | 284 |
|
1080
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
285 |
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
|
286 |
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
|
287 |
printk(KERN_ERR PFX "Domain creation failed!\n"); |
220 | 288 |
goto out_release_master; |
289 |
} |
|
290 |
||
1080
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
291 |
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
|
292 |
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
|
293 |
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
|
294 |
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
|
295 |
} |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
296 |
|
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
297 |
#ifdef CONFIGURE_PDOS |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
298 |
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
|
299 |
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
300 |
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
|
301 |
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
|
302 |
} |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
303 |
|
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
304 |
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
|
305 |
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
|
306 |
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
|
307 |
} |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
308 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1080
diff
changeset
|
309 |
if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
310 |
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
|
311 |
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
|
312 |
} |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
313 |
#endif |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
314 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
315 |
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
|
316 |
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
317 |
printk(KERN_ERR PFX "PDO entry registration failed!\n"); |
220 | 318 |
goto out_release_master; |
319 |
} |
|
320 |
||
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
321 |
printk(KERN_INFO PFX "Activating master...\n"); |
220 | 322 |
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
|
323 |
printk(KERN_ERR PFX "Failed to activate master!\n"); |
220 | 324 |
goto out_release_master; |
325 |
} |
|
326 |
||
1080
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
327 |
// 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
|
328 |
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
|
329 |
|
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 "Starting cyclic sample thread...\n"); |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
331 |
requested_ticks = nano2count(TIMERTICKS); |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
332 |
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
|
333 |
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
|
334 |
(int) tick_period, (int) requested_ticks); |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
335 |
|
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
336 |
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
|
337 |
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
|
338 |
goto out_stop_timer; |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
339 |
} |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
340 |
|
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
341 |
now = rt_get_time(); |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
342 |
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
|
343 |
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
|
344 |
goto out_stop_task; |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
345 |
} |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
346 |
|
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
347 |
printk(KERN_INFO PFX "Initialized.\n"); |
220 | 348 |
return 0; |
349 |
||
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
350 |
out_stop_task: |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
351 |
rt_task_delete(&task); |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
352 |
out_stop_timer: |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
353 |
stop_rt_timer(); |
220 | 354 |
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
|
355 |
printk(KERN_ERR PFX "Releasing master...\n"); |
220 | 356 |
ecrt_release_master(master); |
357 |
out_return: |
|
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rt_sem_delete(&master_sem); |
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359 |
printk(KERN_ERR PFX "Failed to load. Aborting.\n"); |
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360 |
return ret; |
220 | 361 |
} |
362 |
||
363 |
/*****************************************************************************/ |
|
364 |
||
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365 |
void __exit cleanup_mod(void) |
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366 |
{ |
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367 |
printk(KERN_INFO PFX "Stopping...\n"); |
225
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|
368 |
|
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|
369 |
rt_task_delete(&task); |
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370 |
stop_rt_timer(); |
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371 |
ecrt_release_master(master); |
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|
372 |
rt_sem_delete(&master_sem); |
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|
373 |
|
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parents:
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|
374 |
printk(KERN_INFO PFX "Unloading.\n"); |
220 | 375 |
} |
376 |
||
377 |
/*****************************************************************************/ |
|
378 |
||
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|
379 |
MODULE_LICENSE("GPL"); |
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|
380 |
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>"); |
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|
381 |
MODULE_DESCRIPTION("EtherCAT RTAI sample module"); |
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|
382 |
|
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383 |
module_init(init_mod); |
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|
384 |
module_exit(cleanup_mod); |
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|
385 |
|
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|
386 |
/*****************************************************************************/ |