etherlabmaster: examples/mini/mini.c@6b51a2201d41 (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	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 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	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	11	* published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	12	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	16	* Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	17	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 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	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	26	* 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	27	*
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	#include <linux/module.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	#include <linux/timer.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	#include <linux/spinlock.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	#include <linux/interrupt.h>
1239 b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	34	#include <linux/err.h>
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	35
223 daa5e5656b35 Applied new path information to example modules. Florian Pose <fp@igh-essen.com> parents: 220 diff changeset	36	#include "../../include/ecrt.h" // EtherCAT realtime interface
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	37
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	38	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	39
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	40	// Module parameters
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#define FREQUENCY 100
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	42
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	43	// Optional features
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	44	#define CONFIGURE_PDOS 1
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	45	#define EL3152_ALT_PDOS 0
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	46	#define EXTERNAL_MEMORY 1
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	47	#define SDO_ACCESS 0
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	48	#define VOE_ACCESS 0
457 2b4ba84b6058 Minor changes to minimal example. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	49
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	50	#define PFX "ec_mini: "
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	51
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	52	/*****************************************************************************/
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	53
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	// EtherCAT
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	55	static ec_master_t *master = NULL;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	56	static ec_master_state_t master_state = {};
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	57	spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	58
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	59	static ec_domain_t *domain1 = NULL;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	60	static ec_domain_state_t domain1_state = {};
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	61
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	62	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	63	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	64
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	65	// Timer
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	66	static struct timer_list timer;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	67
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	68	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	69
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	70	// process data
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	71	static uint8_t *domain1_pd; // process data memory
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	72
1212 d634ed3a9b94 mini top. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	73	#define AnaInSlavePos 0, 2
d634ed3a9b94 mini top. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	74	#define AnaOutSlavePos 0, 1
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	75	#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	76
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	77	#define Beckhoff_EL2004 0x00000002, 0x07D43052
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	78	#define Beckhoff_EL3152 0x00000002, 0x0c503052
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	79	#define Beckhoff_EL4102 0x00000002, 0x10063052
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	80
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	81	// offsets for PDO entries
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	82	static unsigned int off_ana_in;
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	83	static unsigned int off_ana_out;
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	84	static unsigned int off_dig_out;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	85
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	86	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	87	#if EL3152_ALT_PDOS
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	88	{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	89	#else
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	90	{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	91	#endif
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	92	{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	93	{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	94	{}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	95	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	96
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	97	static unsigned int counter = 0;
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	98	static unsigned int blink = 0;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	99
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	100	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	101
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	102	#if CONFIGURE_PDOS
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	103
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	104	// Analog in --------------------------
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	105
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	106	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	107	{0x3101, 1, 8}, // channel 1 status
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	108	{0x3101, 2, 16}, // channel 1 value
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	109	{0x3102, 1, 8}, // channel 2 status
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	110	{0x3102, 2, 16}, // channel 2 value
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	111	{0x6401, 1, 16}, // channel 1 value (alt.)
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	112	{0x6401, 2, 16} // channel 2 value (alt.)
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	113	};
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	114
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	115	#if EL3152_ALT_PDOS
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	116	static ec_pdo_info_t el3152_pdos[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	117	{0x1A10, 2, el3152_pdo_entries + 4},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	118	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	119
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	120	static ec_sync_info_t el3152_syncs[] = {
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	121	{2, EC_DIR_OUTPUT},
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	122	{3, EC_DIR_INPUT, 1, el3152_pdos},
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	123	{0xff}
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	124	};
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	125	#else
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	126	static ec_pdo_info_t el3152_pdos[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	127	{0x1A00, 2, el3152_pdo_entries},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	128	{0x1A01, 2, el3152_pdo_entries + 2}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	129	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	130
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	131	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	132	{2, EC_DIR_OUTPUT},
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	133	{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	134	{0xff}
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	135	};
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	136	#endif
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	137
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	138	// Analog out -------------------------
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_entry_info_t el4102_pdo_entries[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	141	{0x3001, 1, 16}, // channel 1 value
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	142	{0x3002, 1, 16}, // channel 2 value
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_pdo_info_t el4102_pdos[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	146	{0x1600, 1, el4102_pdo_entries},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	147	{0x1601, 1, el4102_pdo_entries + 1}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	148	};
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	static ec_sync_info_t el4102_syncs[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	151	{2, EC_DIR_OUTPUT, 2, el4102_pdos},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	152	{3, EC_DIR_INPUT},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	153	{0xff}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	154	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	155
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	156	// Digital out ------------------------
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	157
851 2bb18adcd204 Removed 'const' from Pdo configuration entries. Florian Pose <fp@igh-essen.com> parents: 846 diff changeset	158	static ec_pdo_entry_info_t el2004_channels[] = {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	159	{0x3001, 1, 1}, // Value 1
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	160	{0x3001, 2, 1}, // Value 2
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	161	{0x3001, 3, 1}, // Value 3
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	162	{0x3001, 4, 1} // Value 4
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	163	};
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	164
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 878 diff changeset	165	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	166	{0x1600, 1, &el2004_channels[0]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	167	{0x1601, 1, &el2004_channels[1]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	168	{0x1602, 1, &el2004_channels[2]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	169	{0x1603, 1, &el2004_channels[3]}
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	170	};
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	171
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	172	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	173	{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	174	{1, EC_DIR_INPUT},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	175	{0xff}
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	176	};
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	177	#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	178
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	179	/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	180
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	181	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	182	static ec_sdo_request_t *sdo;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	183	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	184
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	185	#if VOE_ACCESS
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	186	static ec_voe_handler_t *voe;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	187	#endif
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	188
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	189	/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	190
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	191	void check_domain1_state(void)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	192	{
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	193	ec_domain_state_t ds;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	194
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	195	spin_lock(&master_lock);
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	196	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	197	spin_unlock(&master_lock);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	198
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	199	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	200	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	201	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	202	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	203
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	204	domain1_state = ds;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	205	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	206
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	207	/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	208
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	209	void check_master_state(void)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	210	{
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	211	ec_master_state_t ms;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	212
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	213	spin_lock(&master_lock);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	214	ecrt_master_state(master, &ms);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	215	spin_unlock(&master_lock);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	216
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	217	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	218	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	219	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	220	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	221	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	222	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	223
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	224	master_state = ms;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	225	}
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	226
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	228
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	229	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	230	{
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	231	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	232
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	233	spin_lock(&master_lock);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	234	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	235	spin_unlock(&master_lock);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	236
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	237	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	238	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	239	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	240	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	241	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	242	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	243	s.operational ? "" : "Not ");
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	244
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	245	sc_ana_in_state = s;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	246	}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	247
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	248	/*****************************************************************************/
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	249
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	250	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	251	void read_sdo(void)
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	252	{
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	253	switch (ecrt_sdo_request_state(sdo)) {
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	254	case EC_REQUEST_UNUSED: // request was not used yet
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	255	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	256	break;
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	257	case EC_REQUEST_BUSY:
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	258	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	259	break;
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	260	case EC_REQUEST_SUCCESS:
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	261	printk(KERN_INFO PFX "SDO value: 0x%04X\n",
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	262	EC_READ_U16(ecrt_sdo_request_data(sdo)));
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	263	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	264	break;
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	265	case EC_REQUEST_ERROR:
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	266	printk(KERN_INFO PFX "Failed to read SDO!\n");
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	267	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	268	break;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	269	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	270	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	271	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	272
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	273	/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	274
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	275	#if VOE_ACCESS
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	276	void read_voe(void)
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	277	{
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	278	switch (ecrt_voe_handler_execute(voe)) {
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	279	case EC_REQUEST_UNUSED:
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	280	ecrt_voe_handler_read(voe); // trigger first read
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	281	break;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	282	case EC_REQUEST_BUSY:
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	283	printk(KERN_INFO PFX "VoE read still busy...\n");
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	284	break;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	285	case EC_REQUEST_SUCCESS:
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	286	printk(KERN_INFO PFX "VoE received.\n");
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	287	// get data via ecrt_voe_handler_data(voe)
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	288	ecrt_voe_handler_read(voe); // trigger next read
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	289	break;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	290	case EC_REQUEST_ERROR:
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	291	printk(KERN_INFO PFX "Failed to read VoE data!\n");
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	292	ecrt_voe_handler_read(voe); // retry reading
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	293	break;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	294	}
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	295	}
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	296	#endif
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	297
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	298	/*****************************************************************************/
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	299
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	300	void cyclic_task(unsigned long data)
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	301	{
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	302	// receive process data
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	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	304	ecrt_master_receive(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	305	ecrt_domain_process(domain1);
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	306	spin_unlock(&master_lock);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	307
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	308	// check process data state (optional)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	309	check_domain1_state();
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	310
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	311	if (counter) {
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	312	counter--;
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	313	} else { // do this at 1 Hz
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	314	counter = FREQUENCY;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	315
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	316	// calculate new process data
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	317	blink = !blink;
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	318
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	319	// check for master state (optional)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	320	check_master_state();
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	321
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	322	// 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	323	check_slave_config_states();
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	324
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	325	#if SDO_ACCESS
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	326	// read process data SDO
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	327	read_sdo();
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	328	#endif
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	329
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	330	#if VOE_ACCESS
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	331	read_voe();
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	332	#endif
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	333	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	334
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	335	// write process data
846 19248bbf9308 Cross blinking. Florian Pose <fp@igh-essen.com> parents: 820 diff changeset	336	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	337
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	338	// send process data
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	339	spin_lock(&master_lock);
509 87baea61d0c7 Adjusted examples to 1.2.0 interface changes. Florian Pose <fp@igh-essen.com> parents: 472 diff changeset	340	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	341	ecrt_master_send(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	spin_unlock(&master_lock);
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	// restart timer
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	timer.expires += HZ / FREQUENCY;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	add_timer(&timer);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	348
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	350
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	351	int request_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	{
516 f703e33ee395 Adjusted examples to EtherLab starter kit hardware. Florian Pose <fp@igh-essen.com> parents: 513 diff changeset	353	spin_lock(&master_lock);
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	354	return 0; // access allowed
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	356
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	358
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	359	void release_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	360	{
516 f703e33ee395 Adjusted examples to EtherLab starter kit hardware. Florian Pose <fp@igh-essen.com> parents: 513 diff changeset	361	spin_unlock(&master_lock);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	362	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	363
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	364	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	365
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	366	int __init init_mini_module(void)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	367	{
1239 b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	368	int ret = -1;
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	369	#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	370	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	371	#endif
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	372	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	373	unsigned int size;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	374	#endif
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	375
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	376	printk(KERN_INFO PFX "Starting...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	377
1239 b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	378	master = ecrt_request_master(0);
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	379	if (IS_ERR(master)) {
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	380	ret = PTR_ERR(master);
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	381	printk(KERN_ERR PFX "Requesting master 0 failed.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	382	goto out_return;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	383	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	384
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	385	ecrt_master_callbacks(master, request_lock, release_lock, NULL);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	386
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	387	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	388	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	389	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	390	goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	391	}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	392
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	393	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	394	master, AnaInSlavePos, Beckhoff_EL3152))) {
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	395	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	396	goto out_release_master;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	397	}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	398
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	399	#if CONFIGURE_PDOS
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	400	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	401	if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	402	printk(KERN_ERR PFX "Failed to configure PDOs.\n");
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	403	goto out_release_master;
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	404	}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	405
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	406	if (!(sc = ecrt_master_slave_config(
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	407	master, AnaOutSlavePos, Beckhoff_EL4102))) {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	408	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	409	goto out_release_master;
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	410	}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	411
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	412	if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	413	printk(KERN_ERR PFX "Failed to configure PDOs.\n");
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	414	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	415	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	416
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	417	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	418	master, DigOutSlavePos, Beckhoff_EL2004))) {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	419	printk(KERN_ERR PFX "Failed to get slave configuration.\n");
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	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	422
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1080 diff changeset	423	if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	424	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	425	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	426	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	427	#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	428
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	429	#if SDO_ACCESS
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	430	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	431	if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	432	printk(KERN_ERR PFX "Failed to create SDO request.\n");
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	433	goto out_release_master;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	434	}
1026 021b8cdeb384 Minor changes to minimal example. Florian Pose <fp@igh-essen.com> parents: 1022 diff changeset	435	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	436	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	437
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	438	#if VOE_ACCESS
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	439	printk(KERN_INFO PFX "Creating VoE handlers...\n");
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	440	if (!(voe = ecrt_slave_config_create_voe_handler(sc_ana_in, 1000))) {
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	441	printk(KERN_ERR PFX "Failed to create VoE handler.\n");
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	442	goto out_release_master;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	443	}
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	444	#endif
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	445
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	446	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	447	if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	448	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	449	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	450	}
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	451
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	452	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	453	if ((size = ecrt_domain_size(domain1))) {
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	454	if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	455	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	456	" memory!\n", size);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	457	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	458	}
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	459	ecrt_domain_external_memory(domain1, domain1_pd);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	460	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	461	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	462
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	463	printk(KERN_INFO PFX "Activating master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	464	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	465	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	466	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	467	goto out_free_process_data;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	468	#else
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	469	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	470	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	471	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	472
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	473	#if !EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	474	// Get internal process data for domain
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	475	domain1_pd = ecrt_domain_data(domain1);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	476	#endif
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	477
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	478	printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	479	init_timer(&timer);
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	480	timer.function = cyclic_task;
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	481	timer.expires = jiffies + 10;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	482	add_timer(&timer);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	483
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	484	printk(KERN_INFO PFX "Started.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	485	return 0;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	486
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	487	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	488	out_free_process_data:
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	489	kfree(domain1_pd);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	490	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	491	out_release_master:
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	492	printk(KERN_ERR PFX "Releasing master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	493	ecrt_release_master(master);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	494	out_return:
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	495	printk(KERN_ERR PFX "Failed to load. Aborting.\n");
1239 b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	496	return ret;
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	497	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	498
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	499	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	500
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	501	void __exit cleanup_mini_module(void)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	502	{
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	503	printk(KERN_INFO PFX "Stopping...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	504
449 3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	505	del_timer_sync(&timer);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	506
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	507	#if EXTERNAL_MEMORY
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	508	kfree(domain1_pd);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	509	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	510
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	511	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	512	ecrt_release_master(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	513
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	514	printk(KERN_INFO PFX "Unloading.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	515	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	516
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	517	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	518
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	519	MODULE_LICENSE("GPL");
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	520	MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	521	MODULE_DESCRIPTION("EtherCAT minimal test environment");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	522
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	523	module_init(init_mini_module);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	524	module_exit(cleanup_mini_module);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	525
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	526	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 01 Apr 2009 08:03:08 +0000
changeset 1376	6b51a2201d41
parent 1363	11c0b2caa253
child 1378	1853f6c0b9b2
permissions	-rw-r--r--