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/******************************************************************************
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*
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* ec_mini.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/tqueue.h>
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#include <linux/slab.h>
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#include <linux/delay.h>
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#include "../drivers/ec_master.h"
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#include "../drivers/ec_device.h"
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#include "../drivers/ec_types.h"
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#include "../drivers/ec_dbg.h"
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extern EtherCAT_device_t rtl_ecat_dev;
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//static EtherCAT_master_t *ecat_master = NULL;
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#if 0
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static EtherCAT_slave_t ecat_slaves[] =
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{
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// Block 1
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ECAT_INIT_SLAVE(Beckhoff_EK1100),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL3162),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL3162),
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ECAT_INIT_SLAVE(Beckhoff_EL3162),
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ECAT_INIT_SLAVE(Beckhoff_EL3162),
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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// Block 2
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ECAT_INIT_SLAVE(Beckhoff_EK1100),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL3162),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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// Block 3
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ECAT_INIT_SLAVE(Beckhoff_EK1100),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014)
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};
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#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
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#endif
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double value;
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int dig1;
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/******************************************************************************
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*
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* Function: next2004
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*
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*****************************************************************************/
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#if 0
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static int next2004(int *wrap)
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{
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static int i = 0;
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unsigned int j = 0;
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*wrap = 0;
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for (j = 0; j < ECAT_SLAVES_COUNT; j++)
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{
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i++;
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i %= ECAT_SLAVES_COUNT;
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if (i == 0) *wrap = 1;
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if (ecat_slaves[i].desc == Beckhoff_EL2004)
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{
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return i;
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}
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}
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return -1;
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}
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#endif
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/******************************************************************************
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*
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* Function: msr_controller
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*
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* Beschreibung: Zyklischer Prozess
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*
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*****************************************************************************/
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#if 0
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void msr_controller()
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{
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static int ms = 0;
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static int cnt = 0;
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static unsigned long int k = 0;
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static int firstrun = 1;
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static int klemme = 12;
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static int kanal = 0;
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static int up_down = 0;
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int wrap = 0;
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ms++;
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ms %= 1000;
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#if 0
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ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
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/ (current_cpu_data.loops_per_jiffy / 10);
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ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
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/ (current_cpu_data.loops_per_jiffy / 10);
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rx_intr = ecat_master->dev->rx_intr_cnt;
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tx_intr = ecat_master->dev->tx_intr_cnt;
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total_intr = ecat_master->dev->intr_cnt;
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#endif
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// Prozessdaten lesen
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if (!firstrun)
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{
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EtherCAT_read_process_data(ecat_master);
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// Daten lesen und skalieren
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value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.7;
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dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
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}
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// Daten schreiben
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EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
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EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
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EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
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EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
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if (cnt++ > 20)
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{
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cnt = 0;
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if (++kanal > 3)
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{
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kanal = 0;
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klemme = next2004(&wrap);
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if (wrap == 1)
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{
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if (up_down == 1) up_down = 0;
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else up_down = 1;
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}
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}
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}
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if (klemme >= 0)
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EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
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//EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
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//EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
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//EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
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// Prozessdaten schreiben
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rdtscl(k);
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EtherCAT_write_process_data(ecat_master);
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firstrun = 0;
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}
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#endif
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/******************************************************************************
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*
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* Function: init
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*
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******************************************************************************/
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//#define ECAT_OPEN
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int init()
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{
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#ifdef ECAT_OPEN
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int rv = -1;
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#endif
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EC_DBG(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
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EtherCAT_device_debug(&rtl_ecat_dev);
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//mdelay(5000);
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#ifdef ECAT_OPEN
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EC_DBG("Opening EtherCAT device.\n");
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// HIER PASSIERT DER FEHLER:
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if (EtherCAT_device_open(&rtl_ecat_dev) < 0)
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{
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EC_DBG(KERN_ERR "msr_modul: Could not initialize EtherCAT NIC.\n");
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goto out_nothing;
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}
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if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
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{
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EC_DBG(KERN_ERR "msr_modul: No EtherCAT device!\n");
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goto out_close;
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}
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#endif
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#if 0
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// EtherCAT-Master und Slaves initialisieren
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EC_DBG("Initialising EtherCAT master\n");
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if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
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{
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EC_DBG(KERN_ERR "msr_modul: Could not alloc memory for EtherCAT master!\n");
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goto out_close;
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}
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if (EtherCAT_master_init(ecat_master, &rtl_ecat_dev) < 0)
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{
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EC_DBG(KERN_ERR "EtherCAT could not init master!\n");
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goto out_master;
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}
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#endif
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#if 0
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EC_DBG("Checking EtherCAT slaves.\n");
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if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
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{
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EC_DBG(KERN_ERR "EtherCAT: Could not init slaves!\n");
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goto out_masterclear;
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}
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EC_DBG("Activating all EtherCAT slaves.\n");
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if (EtherCAT_activate_all_slaves(ecat_master) != 0)
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{
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EC_DBG(KERN_ERR "EtherCAT: Could not activate slaves!\n");
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goto out_masterclear;
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}
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// Zyklischen Aufruf starten
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EC_DBG("Starting cyclic sample thread.\n");
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EtherCAT_write_process_data(ecat_master);
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EC_DBG("Initialised sample thread.\n");
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#endif
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EC_DBG(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
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return 0;
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#if 0
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out_masterclear:
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EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
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EtherCAT_master_clear(ecat_master);
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#endif
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#if 0
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out_master:
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EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
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kfree(ecat_master);
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#endif
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#ifdef ECAT_OPEN
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out_close:
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EC_DBG(KERN_INFO "Closing device.\n");
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EtherCAT_device_close(&rtl_ecat_dev);
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out_nothing:
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return rv;
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#endif
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}
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/******************************************************************************
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*
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* Function: cleanup
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*
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******************************************************************************/
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void cleanup()
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{
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EC_DBG(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
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// Noch einmal lesen
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//EC_DBG(KERN_INFO "Reading process data.\n");
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//EtherCAT_read_process_data(ecat_master);
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#if 0
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if (ecat_master)
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{
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#if 0
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EC_DBG(KERN_INFO "Deactivating slaves.\n");
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EtherCAT_deactivate_all_slaves(ecat_master);
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#endif
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EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
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EtherCAT_master_clear(ecat_master);
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EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
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kfree(ecat_master);
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ecat_master = NULL;
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}
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#endif
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#ifdef ECAT_OPEN
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EC_DBG(KERN_INFO "Closing device.\n");
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EtherCAT_device_close(&rtl_ecat_dev);
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#endif
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EC_DBG(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
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}
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/*****************************************************************************/
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MODULE_LICENSE("GPL");
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MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
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MODULE_DESCRIPTION ("Minimal EtherCAT environment");
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module_init(init);
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module_exit(cleanup);
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/*****************************************************************************/
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