etherlabmaster: examples/mini/mini.c@399ef727bf62 (annotated)

220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	11	* published by the Free Software Foundation.
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	12	*
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	16	* Public License for more details.
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	17	*
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	18	* You should have received a copy of the GNU General Public License along
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	22	* Using the EtherCAT technology and brand is permitted in compliance with
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	23	* the industrial property and similar rights of Beckhoff Automation GmbH.
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	24	*
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	26
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	#include <linux/module.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	#include <linux/timer.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	#include <linux/spinlock.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	#include <linux/interrupt.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	31
223 daa5e5656b35 Applied new path information to example modules. Florian Pose <fp@igh-essen.com> parents: 220 diff changeset	32	#include "../../include/ecrt.h" // EtherCAT realtime interface
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	34	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	35
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	36	// Module parameters
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#define FREQUENCY 100
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	38
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	39	// Optional features
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	40	#define CONFIGURE_PDOS 1
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	41	#define EL3152_ALT_PDOS 0
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	42	#define EXTERNAL_MEMORY 1
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	43	#define SDO_ACCESS 0
457 2b4ba84b6058 Minor changes to minimal example. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	44
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	45	#define PFX "ec_mini: "
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	46
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	47	/*****************************************************************************/
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	48
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	// EtherCAT
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	50	static ec_master_t *master = NULL;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	51	static ec_master_state_t master_state = {};
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	52	spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	53
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	54	static ec_domain_t *domain1 = NULL;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	55	static ec_domain_state_t domain1_state = {};
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	56
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	57	static ec_slave_config_t *sc_ana_in = NULL;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	58	static ec_slave_config_state_t sc_ana_in_state = {};
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	59
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	60	// Timer
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	61	static struct timer_list timer;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	62
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	63	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	64
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	65	// process data
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	66	static uint8_t *domain1_pd; // process data memory
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	67
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	68	#define AnaInSlavePos 0, 1
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	69	#define AnaOutSlavePos 0, 2
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	70	#define DigOutSlavePos 0, 3
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	71
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	72	#define Beckhoff_EL2004 0x00000002, 0x07D43052
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	73	#define Beckhoff_EL3152 0x00000002, 0x0c503052
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	74	#define Beckhoff_EL4102 0x00000002, 0x10063052
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	75
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	76	// offsets for Pdo entries
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	77	static unsigned int off_ana_in;
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	78	static unsigned int off_ana_out;
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	79	static unsigned int off_dig_out;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	80
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	81	const static ec_pdo_entry_reg_t domain1_regs[] = {
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	82	#if EL3152_ALT_PDOS
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	83	{AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	84	#else
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	85	{AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	86	#endif
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	87	{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	88	{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	89	{}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	90	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	91
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	92	static unsigned int counter = 0;
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	93	static unsigned int blink = 0;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	94
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	95	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	96
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	97	#if CONFIGURE_PDOS
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	98
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	99	// Analog in --------------------------
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	100
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	101	static ec_pdo_entry_info_t el3152_pdo_entries[] = {
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	102	{0x3101, 1, 8}, // channel 1 status
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	103	{0x3101, 2, 16}, // channel 1 value
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	104	{0x3102, 1, 8}, // channel 2 status
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	105	{0x3102, 2, 16}, // channel 2 value
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	106	{0x6401, 1, 16}, // channel 1 value (alt.)
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	107	{0x6401, 2, 16} // channel 2 value (alt.)
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	108	};
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	109
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	110	#if EL3152_ALT_PDOS
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	111	static ec_pdo_info_t el3152_pdos[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	112	{0x1A10, 2, el3152_pdo_entries + 4},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	113	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	114
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	115	static ec_sync_info_t el3152_syncs[] = {
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	116	{2, EC_DIR_OUTPUT},
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	117	{3, EC_DIR_INPUT, 1, el3152_pdos},
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	118	{0xff}
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	119	};
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	120	#else
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	121	static ec_pdo_info_t el3152_pdos[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	122	{0x1A00, 2, el3152_pdo_entries},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	123	{0x1A01, 2, el3152_pdo_entries + 2}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	124	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	125
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	126	static ec_sync_info_t el3152_syncs[] = {
1061 90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	127	{2, EC_DIR_OUTPUT},
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	128	{3, EC_DIR_INPUT, 1, el3152_pdos},
1061 90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	129	{0xff}
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	130	};
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	131	#endif
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	132
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	133	// Analog out -------------------------
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	134
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	135	static ec_pdo_entry_info_t el4102_pdo_entries[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	136	{0x3001, 1, 16}, // channel 1 value
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	137	{0x3002, 1, 16}, // channel 2 value
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	138	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	139
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	140	static ec_pdo_info_t el4102_pdos[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	141	{0x1600, 1, el4102_pdo_entries},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	142	{0x1601, 1, el4102_pdo_entries + 1}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	143	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	144
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	145	static ec_sync_info_t el4102_syncs[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	146	{2, EC_DIR_OUTPUT, 2, el4102_pdos},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	147	{3, EC_DIR_INPUT},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	148	{0xff}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	149	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	150
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	151	// Digital out ------------------------
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	152
851 2bb18adcd204 Removed 'const' from Pdo configuration entries. Florian Pose <fp@igh-essen.com> parents: 846 diff changeset	153	static ec_pdo_entry_info_t el2004_channels[] = {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	154	{0x3001, 1, 1}, // Value 1
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	155	{0x3001, 2, 1}, // Value 2
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	156	{0x3001, 3, 1}, // Value 3
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	157	{0x3001, 4, 1} // Value 4
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	158	};
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	159
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 878 diff changeset	160	static ec_pdo_info_t el2004_pdos[] = {
1061 90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	161	{0x1600, 1, &el2004_channels[0]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	162	{0x1601, 1, &el2004_channels[1]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	163	{0x1602, 1, &el2004_channels[2]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	164	{0x1603, 1, &el2004_channels[3]}
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	165	};
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	166
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	167	static ec_sync_info_t el2004_syncs[] = {
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	168	{0, EC_DIR_OUTPUT, 4, el2004_pdos},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	169	{1, EC_DIR_INPUT},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	170	{0xff}
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	171	};
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	172	#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	173
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	174	/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	175
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	176	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	177	static ec_sdo_request_t *sdo;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	178	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	179
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	180	/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	181
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	182	void check_domain1_state(void)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	183	{
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	184	ec_domain_state_t ds;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	185
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	186	spin_lock(&master_lock);
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	187	ecrt_domain_state(domain1, &ds);
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	188	spin_unlock(&master_lock);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	189
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	190	if (ds.working_counter != domain1_state.working_counter)
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	191	printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	192	if (ds.wc_state != domain1_state.wc_state)
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	193	printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	194
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	195	domain1_state = ds;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	196	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	197
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	198	/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	199
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	200	void check_master_state(void)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	201	{
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	202	ec_master_state_t ms;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	203
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	204	spin_lock(&master_lock);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	205	ecrt_master_state(master, &ms);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	206	spin_unlock(&master_lock);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	207
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	208	if (ms.slaves_responding != master_state.slaves_responding)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	209	printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	210	if (ms.al_states != master_state.al_states)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	211	printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	212	if (ms.link_up != master_state.link_up)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	213	printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	214
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	215	master_state = ms;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	216	}
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	217
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	219
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	220	void check_slave_config_states(void)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	221	{
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	222	ec_slave_config_state_t s;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	223
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	224	spin_lock(&master_lock);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	225	ecrt_slave_config_state(sc_ana_in, &s);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	226	spin_unlock(&master_lock);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	227
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	228	if (s.al_state != sc_ana_in_state.al_state)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	229	printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	230	if (s.online != sc_ana_in_state.online)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	231	printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	232	if (s.operational != sc_ana_in_state.operational)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	233	printk(KERN_INFO PFX "AnaIn: %soperational.\n",
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	234	s.operational ? "" : "Not ");
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	235
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	236	sc_ana_in_state = s;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	237	}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	238
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	239	/*****************************************************************************/
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	240
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	241	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	242	void read_sdo(void)
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	243	{
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	244	switch (ecrt_sdo_request_state(sdo)) {
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	245	case EC_SDO_REQUEST_UNUSED: // request was not used yet
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	246	ecrt_sdo_request_read(sdo); // trigger first read
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	247	break;
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	248	case EC_SDO_REQUEST_BUSY:
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	249	printk(KERN_INFO PFX "Still busy...\n");
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	250	break;
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	251	case EC_SDO_REQUEST_SUCCESS:
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	252	printk(KERN_INFO PFX "Sdo value: 0x%04X\n",
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	253	EC_READ_U16(ecrt_sdo_request_data(sdo)));
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	254	ecrt_sdo_request_read(sdo); // trigger next read
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	255	break;
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	256	case EC_SDO_REQUEST_ERROR:
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	257	printk(KERN_INFO PFX "Failed to read Sdo!\n");
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	258	ecrt_sdo_request_read(sdo); // retry reading
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	259	break;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	260	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	261	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	262	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	263
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	264	/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	265
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	266	void cyclic_task(unsigned long data)
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	267	{
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	268	// receive process data
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	spin_lock(&master_lock);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 280 diff changeset	270	ecrt_master_receive(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	ecrt_domain_process(domain1);
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	272	spin_unlock(&master_lock);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	273
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	274	// check process data state (optional)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	275	check_domain1_state();
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	276
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	277	if (counter) {
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	278	counter--;
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	279	} else { // do this at 1 Hz
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	280	counter = FREQUENCY;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	281
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	282	// calculate new process data
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	283	blink = !blink;
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	284
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	285	// check for master state (optional)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	286	check_master_state();
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	287
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	288	// check for islave configuration state(s) (optional)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	289	check_slave_config_states();
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	290
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	291	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	292	// read process data Sdo
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	293	read_sdo();
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	294	#endif
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	295	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	296
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	297	// write process data
846 19248bbf9308 Cross blinking. Florian Pose <fp@igh-essen.com> parents: 820 diff changeset	298	EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	299
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	300	// send process data
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	301	spin_lock(&master_lock);
509 87baea61d0c7 Adjusted examples to 1.2.0 interface changes. Florian Pose <fp@igh-essen.com> parents: 472 diff changeset	302	ecrt_domain_queue(domain1);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 280 diff changeset	303	ecrt_master_send(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	spin_unlock(&master_lock);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	305
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	// restart timer
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	307	timer.expires += HZ / FREQUENCY;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	add_timer(&timer);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	310
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	312
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	int request_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	{
516 f703e33ee395 Adjusted examples to EtherLab starter kit hardware. Florian Pose <fp@igh-essen.com> parents: 513 diff changeset	315	spin_lock(&master_lock);
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	316	return 0; // access allowed
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	318
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	319	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	320
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	void release_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	{
516 f703e33ee395 Adjusted examples to EtherLab starter kit hardware. Florian Pose <fp@igh-essen.com> parents: 513 diff changeset	323	spin_unlock(&master_lock);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	324	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	325
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	327
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	int __init init_mini_module(void)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	329	{
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	330	#if CONFIGURE_PDOS
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	331	ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	332	#endif
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	333	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	334	unsigned int size;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	335	#endif
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	336
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	337	printk(KERN_INFO PFX "Starting...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	338
509 87baea61d0c7 Adjusted examples to 1.2.0 interface changes. Florian Pose <fp@igh-essen.com> parents: 472 diff changeset	339	if (!(master = ecrt_request_master(0))) {
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	340	printk(KERN_ERR PFX "Requesting master 0 failed!\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	goto out_return;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	343
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	344	ecrt_master_callbacks(master, request_lock, release_lock, NULL);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	345
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	346	printk(KERN_INFO PFX "Registering domain...\n");
509 87baea61d0c7 Adjusted examples to 1.2.0 interface changes. Florian Pose <fp@igh-essen.com> parents: 472 diff changeset	347	if (!(domain1 = ecrt_master_create_domain(master))) {
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	348	printk(KERN_ERR PFX "Domain creation failed!\n");
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	349	goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	350	}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	351
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	352	if (!(sc_ana_in = ecrt_master_slave_config(
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	353	master, AnaInSlavePos, Beckhoff_EL3152))) {
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	354	printk(KERN_ERR PFX "Failed to get slave configuration.\n");
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	355	goto out_release_master;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	356	}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	357
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	358	#if CONFIGURE_PDOS
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 878 diff changeset	359	printk(KERN_INFO PFX "Configuring Pdos...\n");
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	360	if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	361	printk(KERN_ERR PFX "Failed to configure Pdos.\n");
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	362	goto out_release_master;
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	363	}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	364
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	365	if (!(sc = ecrt_master_slave_config(
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	366	master, AnaOutSlavePos, Beckhoff_EL4102))) {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	367	printk(KERN_ERR PFX "Failed to get slave configuration.\n");
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	368	goto out_release_master;
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	369	}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	370
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	371	if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 878 diff changeset	372	printk(KERN_ERR PFX "Failed to configure Pdos.\n");
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	373	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	374	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	375
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	376	if (!(sc = ecrt_master_slave_config(
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	377	master, DigOutSlavePos, Beckhoff_EL2004))) {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	378	printk(KERN_ERR PFX "Failed to get slave configuration.\n");
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	379	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	380	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	381
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1080 diff changeset	382	if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 878 diff changeset	383	printk(KERN_ERR PFX "Failed to configure Pdos.\n");
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	384	goto out_release_master;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	385	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	386	#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	387
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	388	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	389	printk(KERN_INFO PFX "Creating Sdo requests...\n");
1026 021b8cdeb384 Minor changes to minimal example. Florian Pose <fp@igh-essen.com> parents: 1022 diff changeset	390	if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	391	printk(KERN_ERR PFX "Failed to create Sdo request.\n");
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	392	goto out_release_master;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	393	}
1026 021b8cdeb384 Minor changes to minimal example. Florian Pose <fp@igh-essen.com> parents: 1022 diff changeset	394	ecrt_sdo_request_timeout(sdo, 500); // ms
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	395	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	396
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	397	printk(KERN_INFO PFX "Registering Pdo entries...\n");
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	398	if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	399	printk(KERN_ERR PFX "Pdo entry registration failed!\n");
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	400	goto out_release_master;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	401	}
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	402
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	403	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	404	if ((size = ecrt_domain_size(domain1))) {
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	405	if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	406	printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	407	" memory!\n", size);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	408	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	409	}
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	410	ecrt_domain_external_memory(domain1, domain1_pd);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	411	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	412	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	413
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	414	printk(KERN_INFO PFX "Activating master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	415	if (ecrt_master_activate(master)) {
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	416	printk(KERN_ERR PFX "Failed to activate master!\n");
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	417	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	418	goto out_free_process_data;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	419	#else
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	420	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	421	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	422	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	423
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	424	#if !EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	425	// Get internal process data for domain
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	426	domain1_pd = ecrt_domain_data(domain1);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	427	#endif
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	428
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	429	printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	430	init_timer(&timer);
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	431	timer.function = cyclic_task;
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	432	timer.expires = jiffies + 10;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	433	add_timer(&timer);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	434
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	435	printk(KERN_INFO PFX "Started.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	436	return 0;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	437
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	438	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	439	out_free_process_data:
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	440	kfree(domain1_pd);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	441	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	442	out_release_master:
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	443	printk(KERN_ERR PFX "Releasing master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	444	ecrt_release_master(master);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	445	out_return:
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	446	printk(KERN_ERR PFX "Failed to load. Aborting.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	447	return -1;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	448	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	449
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	450	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	451
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	452	void __exit cleanup_mini_module(void)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	453	{
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	454	printk(KERN_INFO PFX "Stopping...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	455
449 3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	456	del_timer_sync(&timer);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	457
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	458	#if EXTERNAL_MEMORY
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	459	kfree(domain1_pd);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	460	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	461
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	462	printk(KERN_INFO PFX "Releasing master...\n");
449 3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	463	ecrt_release_master(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	464
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	465	printk(KERN_INFO PFX "Unloading.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	466	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	467
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	468	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	469
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	470	MODULE_LICENSE("GPL");
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	471	MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	472	MODULE_DESCRIPTION("EtherCAT minimal test environment");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	473
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	474	module_init(init_mini_module);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	475	module_exit(cleanup_mini_module);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	476
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	477	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 29 Dec 2008 14:10:27 +0000
branch	stable-1.4
changeset 1685	399ef727bf62
parent 1179	c0e6adec1aee
child 1686	e206f4485f60
permissions	-rw-r--r--