author | Florian Pose <fp@igh-essen.com> |
Mon, 27 Oct 2014 13:41:01 +0100 | |
branch | stable-1.5 |
changeset 2548 | 3339dcc91b88 |
parent 2421 | bc2d4bf9cbe5 |
permissions | -rw-r--r-- |
220 | 1 |
/****************************************************************************** |
2 |
* |
|
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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 |
220 | 20 |
* 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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#include <linux/version.h> |
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#include <linux/module.h> |
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#include <linux/timer.h> |
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#include <linux/interrupt.h> |
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#include <linux/err.h> |
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27) |
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#include <linux/semaphore.h> |
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#else |
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#include <asm/semaphore.h> |
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#endif |
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#include "../../include/ecrt.h" // EtherCAT realtime interface |
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#include "serial.h" |
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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 PFX "ec_tty_example: " |
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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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struct semaphore master_sem; |
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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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// 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 BusCouplerPos 0, 0 |
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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static unsigned int counter = 0; |
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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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down(&master_sem); |
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ecrt_domain_state(domain1, &ds); |
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up(&master_sem); |
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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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down(&master_sem); |
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ecrt_master_state(master, &ms); |
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up(&master_sem); |
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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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} |
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/*****************************************************************************/ |
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void cyclic_task(unsigned long data) |
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{ |
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// receive process data |
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down(&master_sem); |
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ecrt_master_receive(master); |
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ecrt_domain_process(domain1); |
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up(&master_sem); |
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// check process data state (optional) |
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check_domain1_state(); |
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if (counter) { |
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counter--; |
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} else { // do this at 1 Hz |
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counter = FREQUENCY; |
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// check for master state (optional) |
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check_master_state(); |
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} |
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run_serial_devices(domain1_pd); |
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// send process data |
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down(&master_sem); |
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ecrt_domain_queue(domain1); |
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ecrt_master_send(master); |
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up(&master_sem); |
220 | 146 |
|
147 |
// restart timer |
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148 |
timer.expires += HZ / FREQUENCY; |
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149 |
add_timer(&timer); |
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150 |
} |
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152 |
/*****************************************************************************/ |
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154 |
void send_callback(void *cb_data) |
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{ |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
156 |
ec_master_t *m = (ec_master_t *) cb_data; |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
157 |
down(&master_sem); |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
158 |
ecrt_master_send_ext(m); |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
159 |
up(&master_sem); |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
160 |
} |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
161 |
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
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parents:
1501
diff
changeset
|
162 |
/*****************************************************************************/ |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
163 |
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
164 |
void receive_callback(void *cb_data) |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
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parents:
1501
diff
changeset
|
165 |
{ |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
166 |
ec_master_t *m = (ec_master_t *) cb_data; |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
167 |
down(&master_sem); |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
168 |
ecrt_master_receive(m); |
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1378
diff
changeset
|
169 |
up(&master_sem); |
220 | 170 |
} |
171 |
||
172 |
/*****************************************************************************/ |
|
173 |
||
174 |
int __init init_mini_module(void) |
|
175 |
{ |
|
1239
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1212
diff
changeset
|
176 |
int ret = -1; |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
177 |
ec_slave_config_t *sc; |
2421 | 178 |
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
179 |
printk(KERN_INFO PFX "Starting...\n"); |
220 | 180 |
|
1239
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1212
diff
changeset
|
181 |
master = ecrt_request_master(0); |
1378
1853f6c0b9b2
Removed IS_ERR() from minimal example.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
182 |
if (!master) { |
1613
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
183 |
printk(KERN_ERR PFX "Requesting master 0 failed.\n"); |
2421 | 184 |
ret = -EBUSY; |
1613
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
185 |
goto out_return; |
220 | 186 |
} |
187 |
||
1579
326d47aa986c
applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1501
diff
changeset
|
188 |
sema_init(&master_sem, 1); |
1513
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
189 |
ecrt_master_callbacks(master, send_callback, receive_callback, master); |
220 | 190 |
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
191 |
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
|
192 |
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
|
193 |
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
|
194 |
goto out_release_master; |
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
195 |
} |
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
196 |
|
1567 | 197 |
// Create configuration for bus coupler |
198 |
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); |
|
1613
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
199 |
if (!sc) { |
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
200 |
printk(KERN_ERR PFX "Failed to create slave config.\n"); |
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
201 |
ret = -ENOMEM; |
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
202 |
goto out_release_master; |
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
203 |
} |
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
204 |
|
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
205 |
create_serial_devices(master, domain1); |
809 | 206 |
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
207 |
printk(KERN_INFO PFX "Activating master...\n"); |
220 | 208 |
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
|
209 |
printk(KERN_ERR PFX "Failed to activate master!\n"); |
1613
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
210 |
goto out_free_serial; |
1567 | 211 |
} |
212 |
||
809 | 213 |
// Get internal process data for domain |
820 | 214 |
domain1_pd = ecrt_domain_data(domain1); |
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
215 |
|
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
216 |
printk(KERN_INFO PFX "Starting cyclic sample thread.\n"); |
220 | 217 |
init_timer(&timer); |
820 | 218 |
timer.function = cyclic_task; |
220 | 219 |
timer.expires = jiffies + 10; |
220 |
add_timer(&timer); |
|
221 |
||
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
222 |
printk(KERN_INFO PFX "Started.\n"); |
220 | 223 |
return 0; |
224 |
||
1613
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
225 |
out_free_serial: |
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
226 |
free_serial_devices(); |
809 | 227 |
out_release_master: |
654
8278e1e27010
Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents:
643
diff
changeset
|
228 |
printk(KERN_ERR PFX "Releasing master...\n"); |
220 | 229 |
ecrt_release_master(master); |
809 | 230 |
out_return: |
654
8278e1e27010
Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents:
643
diff
changeset
|
231 |
printk(KERN_ERR PFX "Failed to load. Aborting.\n"); |
1239
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1212
diff
changeset
|
232 |
return ret; |
220 | 233 |
} |
234 |
||
235 |
/*****************************************************************************/ |
|
236 |
||
237 |
void __exit cleanup_mini_module(void) |
|
238 |
{ |
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
239 |
printk(KERN_INFO PFX "Stopping...\n"); |
220 | 240 |
|
449
3caf8ff4d8a2
Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
446
diff
changeset
|
241 |
del_timer_sync(&timer); |
809 | 242 |
|
1613
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
243 |
free_serial_devices(); |
070b4b420ab1
TTY: Sourced serial device functions out into serial.c/serial.h.
Florian Pose <fp@igh-essen.com>
parents:
1581
diff
changeset
|
244 |
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
245 |
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
|
246 |
ecrt_release_master(master); |
220 | 247 |
|
654
8278e1e27010
Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents:
643
diff
changeset
|
248 |
printk(KERN_INFO PFX "Unloading.\n"); |
220 | 249 |
} |
250 |
||
251 |
/*****************************************************************************/ |
|
252 |
||
253 |
MODULE_LICENSE("GPL"); |
|
512
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
254 |
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>"); |
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
255 |
MODULE_DESCRIPTION("EtherCAT minimal test environment"); |
220 | 256 |
|
257 |
module_init(init_mini_module); |
|
258 |
module_exit(cleanup_mini_module); |
|
259 |
||
260 |
/*****************************************************************************/ |