mini/mini.c
author Florian Pose <fp@igh-essen.com>
Wed, 05 Apr 2006 08:45:34 +0000
changeset 153 32446a24c322
parent 147 a355b587b4bc
child 156 43d7d714679f
permissions -rw-r--r--
Plugfest: Neue Slave-Typen.
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/******************************************************************************
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 *
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 *  m i n i . c
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 *
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 *  Minimalmodul für EtherCAT
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 *
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 *  $Id$
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 *
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 *****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include <linux/timer.h>
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#include "../include/ecrt.h" // Echtzeitschnittstelle
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#define ASYNC
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/*****************************************************************************/
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#define ABTASTFREQUENZ 100
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struct timer_list timer;
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/*****************************************************************************/
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// EtherCAT
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ec_master_t *master = NULL;
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ec_domain_t *domain1 = NULL;
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// Datenfelder
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//void *r_ssi_input, *r_ssi_status, *r_4102[3];
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// Kanäle
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uint32_t k_pos;
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uint8_t k_stat;
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ec_field_init_t domain1_fields[] = {
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    {NULL, "1", "Beckhoff", "EL5001", "InputValue", 0},
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    {NULL, "2", "Beckhoff", "EL4132", "OutputValue",  0},
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    {}
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};
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/*****************************************************************************/
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void run(unsigned long data)
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{
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    static unsigned int counter = 0;
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#ifdef ASYNC
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    // Prozessdaten empfangen
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    ecrt_master_async_receive(master);
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    ecrt_domain_process(domain1);
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    // Prozessdaten verarbeiten
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    //k_pos   = EC_READ_U32(r_ssi_input);
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    //k_stat  = EC_READ_U8(r_ssi_status);
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    // Prozessdaten senden
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    ecrt_domain_queue(domain1);
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    ecrt_master_run(master);
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    ecrt_master_async_send(master);
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#else
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    // Prozessdaten senden und empfangen
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    ecrt_domain_queue(domain1);
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    ecrt_master_run(master);
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    ecrt_master_sync_io(master);
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    ecrt_domain_process(domain1);
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    // Prozessdaten verarbeiten
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    //k_pos   = EC_READ_U32(r_ssi_input);
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    //k_stat  = EC_READ_U8(r_ssi_status);
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#endif
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    if (counter) {
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        counter--;
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    }
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    else {
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        counter = ABTASTFREQUENZ;
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        //printk(KERN_INFO "k_pos    = %i\n", k_pos);
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        //printk(KERN_INFO "k_stat   = 0x%02X\n", k_stat);
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    }
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    // Timer neu starten
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    timer.expires += HZ / ABTASTFREQUENZ;
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    add_timer(&timer);
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}
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/*****************************************************************************/
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int __init init_mini_module(void)
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{
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    printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
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    if ((master = ecrt_request_master(0)) == NULL) {
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        printk(KERN_ERR "Requesting master 0 failed!\n");
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        goto out_return;
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    }
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    printk(KERN_INFO "Registering domain...\n");
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    if (!(domain1 = ecrt_master_create_domain(master)))
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    {
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        printk(KERN_ERR "Domain creation failed!\n");
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        goto out_release_master;
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    }
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    printk(KERN_INFO "Registering domain fields...\n");
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    if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
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        printk(KERN_ERR "Field registration failed!\n");
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        goto out_release_master;
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    }
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    printk(KERN_INFO "Activating master...\n");
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    if (ecrt_master_activate(master)) {
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        printk(KERN_ERR "Failed to activate master!\n");
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        goto out_release_master;
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    }
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#if 0
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   120
    if (ecrt_master_fetch_sdo_lists(master)) {
80d493917205 Laden der SDO Dictionaries funktioniert.
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parents: 130
diff changeset
   121
        printk(KERN_ERR "Failed to fetch SDO lists!\n");
80d493917205 Laden der SDO Dictionaries funktioniert.
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parents: 130
diff changeset
   122
        goto out_deactivate;
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Florian Pose <fp@igh-essen.com>
parents: 130
diff changeset
   123
    }
140
b09658e50d6f Verbosity level in ecrt_master_print().
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diff changeset
   124
    ecrt_master_print(master, 2);
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parents: 138
diff changeset
   125
#else
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   126
    ecrt_master_print(master, 0);
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diff changeset
   127
#endif
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diff changeset
   128
111
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben.
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parents: 109
diff changeset
   129
130
69c2645300ee Watch-Kommando
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parents: 117
diff changeset
   130
#if 0
138
7e743a61a991 SDO-Schnittstelle verbessert.
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diff changeset
   131
    if (!(slave = ecrt_master_get_slave(master, "5"))) {
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   132
        printk(KERN_ERR "Failed to get slave 5!\n");
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diff changeset
   133
        goto out_deactivate;
7e743a61a991 SDO-Schnittstelle verbessert.
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parents: 135
diff changeset
   134
    }
7e743a61a991 SDO-Schnittstelle verbessert.
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parents: 135
diff changeset
   135
7e743a61a991 SDO-Schnittstelle verbessert.
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parents: 135
diff changeset
   136
    if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  0) ||
7e743a61a991 SDO-Schnittstelle verbessert.
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parents: 135
diff changeset
   137
        ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  1) ||
7e743a61a991 SDO-Schnittstelle verbessert.
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parents: 135
diff changeset
   138
        ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) ||
7e743a61a991 SDO-Schnittstelle verbessert.
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parents: 135
diff changeset
   139
        ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  0) ||
7e743a61a991 SDO-Schnittstelle verbessert.
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parents: 135
diff changeset
   140
        ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  4) ||
7e743a61a991 SDO-Schnittstelle verbessert.
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parents: 135
diff changeset
   141
        ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) ||
7e743a61a991 SDO-Schnittstelle verbessert.
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parents: 135
diff changeset
   142
        ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||
7e743a61a991 SDO-Schnittstelle verbessert.
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parents: 135
diff changeset
   143
        ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||
7e743a61a991 SDO-Schnittstelle verbessert.
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parents: 135
diff changeset
   144
        ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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parents: 130
diff changeset
   145
        printk(KERN_ERR "Failed to configure SSI slave!\n");
111
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben.
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diff changeset
   146
        goto out_deactivate;
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben.
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parents: 109
diff changeset
   147
    }
130
69c2645300ee Watch-Kommando
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parents: 117
diff changeset
   148
#endif
111
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben.
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parents: 109
diff changeset
   149
114
e4b4b5a85e75 Slave alias implementiert.
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parents: 112
diff changeset
   150
#if 0
e4b4b5a85e75 Slave alias implementiert.
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parents: 112
diff changeset
   151
    printk(KERN_INFO "Writing alias...\n");
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 135
diff changeset
   152
    if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
135
80d493917205 Laden der SDO Dictionaries funktioniert.
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parents: 130
diff changeset
   153
        printk(KERN_ERR "Failed to write alias!\n");
114
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 112
diff changeset
   154
        goto out_deactivate;
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 112
diff changeset
   155
    }
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 112
diff changeset
   156
#endif
e4b4b5a85e75 Slave alias implementiert.
Florian Pose <fp@igh-essen.com>
parents: 112
diff changeset
   157
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   158
#ifdef ASYNC
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   159
    // Einmal senden und warten...
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   160
    ecrt_master_prepare_async_io(master);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   161
#endif
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   162
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   163
    printk("Starting cyclic sample thread.\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   164
    init_timer(&timer);
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   165
    timer.function = run;
60
2d2b120ba734 Neue Schnittstellen in Mini ?bertragen.
Florian Pose <fp@igh-essen.com>
parents: 57
diff changeset
   166
    timer.expires = jiffies + 10; // Das erste Mal sofort feuern
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   167
    add_timer(&timer);
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   168
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   169
    printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   170
    return 0;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   171
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   172
#if 0
111
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents: 109
diff changeset
   173
 out_deactivate:
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents: 109
diff changeset
   174
    ecrt_master_deactivate(master);
147
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   175
#endif
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   176
 out_release_master:
111
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents: 109
diff changeset
   177
    ecrt_release_master(master);
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   178
 out_return:
111
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents: 109
diff changeset
   179
    return -1;
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   180
}
05c992bf5847 trunk, tags und branches
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parents:
diff changeset
   181
60
2d2b120ba734 Neue Schnittstellen in Mini ?bertragen.
Florian Pose <fp@igh-essen.com>
parents: 57
diff changeset
   182
/*****************************************************************************/
22
e8c2cd004e0b Portierung der Module in drivers/ und mini/ nach Kernel 2.6.
Florian Pose <fp@igh-essen.com>
parents: 13
diff changeset
   183
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 47
diff changeset
   184
void __exit cleanup_mini_module(void)
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   185
{
26
60435f959e5c Serial-Debugger entfernt.
Florian Pose <fp@igh-essen.com>
parents: 24
diff changeset
   186
    printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   187
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 130
diff changeset
   188
    if (master) {
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   189
        del_timer_sync(&timer);
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   190
        printk(KERN_INFO "Deactivating master...\n");
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   191
        ecrt_master_deactivate(master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   192
        ecrt_release_master(master);
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents: 26
diff changeset
   193
    }
22
e8c2cd004e0b Portierung der Module in drivers/ und mini/ nach Kernel 2.6.
Florian Pose <fp@igh-essen.com>
parents: 13
diff changeset
   194
26
60435f959e5c Serial-Debugger entfernt.
Florian Pose <fp@igh-essen.com>
parents: 24
diff changeset
   195
    printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   196
}
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   197
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   198
/*****************************************************************************/
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   199
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   200
MODULE_LICENSE("GPL");
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   201
MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   202
MODULE_DESCRIPTION ("EtherCAT minimal test environment");
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   203
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 47
diff changeset
   204
module_init(init_mini_module);
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 47
diff changeset
   205
module_exit(cleanup_mini_module);
0
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   206
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   207
/*****************************************************************************/
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 36
diff changeset
   208
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 36
diff changeset
   209
/* Emacs-Konfiguration
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 36
diff changeset
   210
;;; Local Variables: ***
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 36
diff changeset
   211
;;; c-basic-offset:4 ***
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 36
diff changeset
   212
;;; End: ***
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 36
diff changeset
   213
*/