author | Florian Pose <fp@igh-essen.com> |
Tue, 07 Nov 2006 12:10:47 +0000 | |
changeset 487 | 448b0b23b905 |
parent 472 | bd2e0f220289 |
child 509 | 87baea61d0c7 |
permissions | -rw-r--r-- |
220 | 1 |
/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
0bf7c769de06
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
0bf7c769de06
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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Changed license headers and added EtherCAT license notice.
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* software based on IgH EtherCAT master stay compatible with the actual |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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#include <linux/module.h> |
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#include <linux/delay.h> |
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#include <linux/timer.h> |
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#include <linux/spinlock.h> |
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#include <linux/interrupt.h> |
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#include "../../include/ecrt.h" // EtherCAT realtime interface |
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#include "../../include/ecdb.h" // EtherCAT slave database |
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#define FREQUENCY 100 |
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#define KBUS |
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/*****************************************************************************/ |
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struct timer_list timer; |
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// EtherCAT |
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ec_master_t *master = NULL; |
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ec_domain_t *domain1 = NULL; |
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED; |
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// data fields |
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#ifdef KBUS |
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void *r_inputs; |
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void *r_outputs; |
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#endif |
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void *r_ana_in; |
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#if 1 |
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ec_pdo_reg_t domain1_pdos[] = { |
446 | 66 |
{"2", Beckhoff_EL3102_Input1, &r_ana_in}, |
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{} |
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}; |
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416
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#endif |
220 | 70 |
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/*****************************************************************************/ |
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void run(unsigned long data) |
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{ |
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static unsigned int counter = 0; |
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static unsigned int einaus = 0; |
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spin_lock(&master_lock); |
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// receive |
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ecrt_master_receive(master); |
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ecrt_domain_process(domain1); |
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// process data |
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//k_pos = EC_READ_U32(r_ssi); |
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86 |
#ifdef KBUS |
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EC_WRITE_U8(r_outputs + 2, einaus ? 0xFF : 0x00); |
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#endif |
220 | 89 |
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// send |
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ecrt_master_run(master); |
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ecrt_master_send(master); |
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spin_unlock(&master_lock); |
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if (counter) { |
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counter--; |
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} |
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else { |
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counter = FREQUENCY; |
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einaus = !einaus; |
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} |
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// restart timer |
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timer.expires += HZ / FREQUENCY; |
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add_timer(&timer); |
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} |
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/*****************************************************************************/ |
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int request_lock(void *data) |
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{ |
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EoE with workqueue; bugfix in ec_master_init()
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spin_lock_bh(&master_lock); |
07247920a7ba
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return 0; // access allowed |
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} |
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/*****************************************************************************/ |
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void release_lock(void *data) |
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{ |
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EoE with workqueue; bugfix in ec_master_init()
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121 |
spin_unlock_bh(&master_lock); |
220 | 122 |
} |
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/*****************************************************************************/ |
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int __init init_mini_module(void) |
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{ |
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minimal example with SDO configs.
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128 |
#if 1 |
454
25cc4a3b9e0a
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129 |
ec_slave_t *slave; |
25cc4a3b9e0a
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#endif |
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d004349777fc
SDO configuration interface, SDO download state machine.
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220 | 132 |
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); |
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if ((master = ecrt_request_master(0)) == NULL) { |
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printk(KERN_ERR "Requesting master 0 failed!\n"); |
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goto out_return; |
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} |
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ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
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141 |
printk(KERN_INFO "Registering domain...\n"); |
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if (!(domain1 = ecrt_master_create_domain(master))) |
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{ |
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printk(KERN_ERR "Domain creation failed!\n"); |
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goto out_release_master; |
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} |
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147 |
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325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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280
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148 |
printk(KERN_INFO "Registering PDOs...\n"); |
446 | 149 |
#if 1 |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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280
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changeset
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150 |
if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) { |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
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280
diff
changeset
|
151 |
printk(KERN_ERR "PDO registration failed!\n"); |
220 | 152 |
goto out_release_master; |
153 |
} |
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416
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
348
diff
changeset
|
154 |
#endif |
446 | 155 |
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457
2b4ba84b6058
Minor changes to minimal example.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
156 |
#ifdef KBUS |
416
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
348
diff
changeset
|
157 |
if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120, |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
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parents:
348
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changeset
|
158 |
EC_DIR_OUTPUT, 0, 4, &r_outputs)) { |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
348
diff
changeset
|
159 |
printk(KERN_ERR "PDO registration failed!\n"); |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
348
diff
changeset
|
160 |
goto out_release_master; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
348
diff
changeset
|
161 |
} |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
348
diff
changeset
|
162 |
if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120, |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
348
diff
changeset
|
163 |
EC_DIR_INPUT, 0, 4, &r_inputs)) { |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
348
diff
changeset
|
164 |
printk(KERN_ERR "PDO registration failed!\n"); |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
348
diff
changeset
|
165 |
goto out_release_master; |
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
348
diff
changeset
|
166 |
} |
446 | 167 |
#endif |
416
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
348
diff
changeset
|
168 |
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463
938de5ebe1ca
minimal example with SDO configs.
Florian Pose <fp@igh-essen.com>
parents:
457
diff
changeset
|
169 |
#if 1 |
938de5ebe1ca
minimal example with SDO configs.
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parents:
457
diff
changeset
|
170 |
if (!(slave = ecrt_master_get_slave(master, "2"))) |
329
d004349777fc
SDO configuration interface, SDO download state machine.
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diff
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|
171 |
goto out_release_master; |
d004349777fc
SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
172 |
|
d004349777fc
SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
173 |
if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0)) |
d004349777fc
SDO configuration interface, SDO download state machine.
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parents:
325
diff
changeset
|
174 |
goto out_release_master; |
416
4f007cd2a79d
ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents:
348
diff
changeset
|
175 |
#endif |
329
d004349777fc
SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
176 |
|
220 | 177 |
printk(KERN_INFO "Activating master...\n"); |
178 |
if (ecrt_master_activate(master)) { |
|
179 |
printk(KERN_ERR "Failed to activate master!\n"); |
|
180 |
goto out_release_master; |
|
181 |
} |
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182 |
||
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
280
diff
changeset
|
183 |
ecrt_master_prepare(master); |
220 | 184 |
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185 |
printk("Starting cyclic sample thread.\n"); |
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186 |
init_timer(&timer); |
|
187 |
timer.function = run; |
|
188 |
timer.expires = jiffies + 10; |
|
189 |
add_timer(&timer); |
|
190 |
||
191 |
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n"); |
|
192 |
return 0; |
|
193 |
||
194 |
out_release_master: |
|
195 |
ecrt_release_master(master); |
|
196 |
out_return: |
|
197 |
return -1; |
|
198 |
} |
|
199 |
||
200 |
/*****************************************************************************/ |
|
201 |
||
202 |
void __exit cleanup_mini_module(void) |
|
203 |
{ |
|
204 |
printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n"); |
|
205 |
||
449
3caf8ff4d8a2
Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
446
diff
changeset
|
206 |
del_timer_sync(&timer); |
3caf8ff4d8a2
Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
446
diff
changeset
|
207 |
printk(KERN_INFO "Releasing master...\n"); |
3caf8ff4d8a2
Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
446
diff
changeset
|
208 |
ecrt_release_master(master); |
220 | 209 |
|
210 |
printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n"); |
|
211 |
} |
|
212 |
||
213 |
/*****************************************************************************/ |
|
214 |
||
215 |
MODULE_LICENSE("GPL"); |
|
216 |
MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>"); |
|
217 |
MODULE_DESCRIPTION ("EtherCAT minimal test environment"); |
|
218 |
||
219 |
module_init(init_mini_module); |
|
220 |
module_exit(cleanup_mini_module); |
|
221 |
||
222 |
/*****************************************************************************/ |
|
223 |