examples/dc_rtai/dc_rtai_sample.c
author Florian Pose <fp@igh-essen.com>
Fri, 08 Jan 2010 11:26:07 +0100
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parent 1513 60ca68d853b8
child 2024 96e2ae6cce95
child 2421 bc2d4bf9cbe5
permissions -rw-r--r--
Merged Komax changes.
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/******************************************************************************
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 *
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 *  Distributed clocks sample for the IgH EtherCAT master.
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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// Linux
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#include <linux/module.h>
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#include <linux/err.h>
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// RTAI
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#include <rtai_sched.h>
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#include <rtai_sem.h>
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// EtherCAT
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#include "../../include/ecrt.h"
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/*****************************************************************************/
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// Module parameters
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#define FREQUENCY 1000 // task frequency in Hz
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#define INHIBIT_TIME 20
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#define TIMERTICKS (1000000000 / FREQUENCY)
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#define NUM_DIG_OUT 1
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#define PFX "ec_dc_rtai_sample: "
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/*****************************************************************************/
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_master_state_t master_state = {};
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static ec_domain_t *domain1 = NULL;
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static ec_domain_state_t domain1_state = {};
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// RTAI
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static RT_TASK task;
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static SEM master_sem;
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static cycles_t t_last_cycle = 0, t_critical;
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/*****************************************************************************/
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// process data
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static uint8_t *domain1_pd; // process data memory
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#define DigOutSlavePos(X) 0, (1 + (X))
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#define CounterSlavePos   0, 2
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EL2008 0x00000002, 0x07d83052
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#define IDS_Counter     0x000012ad, 0x05de3052
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static int off_dig_out[NUM_DIG_OUT];
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static int off_counter_in;
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static int off_counter_out;
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static unsigned int counter = 0;
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static unsigned int blink_counter = 0;
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static unsigned int blink = 0;
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static u32 counter_value = 0U;
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/*****************************************************************************/
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static ec_pdo_entry_info_t el2008_channels[] = {
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    {0x7000, 1, 1},
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    {0x7010, 1, 1},
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    {0x7020, 1, 1},
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    {0x7030, 1, 1},
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    {0x7040, 1, 1},
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    {0x7050, 1, 1},
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    {0x7060, 1, 1},
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    {0x7070, 1, 1}
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};
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static ec_pdo_info_t el2008_pdos[] = {
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    {0x1600, 1, &el2008_channels[0]},
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    {0x1601, 1, &el2008_channels[1]},
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    {0x1602, 1, &el2008_channels[2]},
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    {0x1603, 1, &el2008_channels[3]},
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    {0x1604, 1, &el2008_channels[4]},
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    {0x1605, 1, &el2008_channels[5]},
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    {0x1606, 1, &el2008_channels[6]},
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    {0x1607, 1, &el2008_channels[7]}
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};
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static ec_sync_info_t el2008_syncs[] = {
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    {0, EC_DIR_OUTPUT, 8, el2008_pdos},
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    {1, EC_DIR_INPUT},
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    {0xff}
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};
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/*****************************************************************************/
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void check_domain1_state(void)
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{
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    ec_domain_state_t ds;
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    rt_sem_wait(&master_sem);
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    ecrt_domain_state(domain1, &ds);
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    rt_sem_signal(&master_sem);
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    if (ds.working_counter != domain1_state.working_counter)
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        printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
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    if (ds.wc_state != domain1_state.wc_state)
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        printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
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    domain1_state = ds;
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}
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/*****************************************************************************/
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void check_master_state(void)
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{
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    ec_master_state_t ms;
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    rt_sem_wait(&master_sem);
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    ecrt_master_state(master, &ms);
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    rt_sem_signal(&master_sem);
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    if (ms.slaves_responding != master_state.slaves_responding)
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        printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
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    if (ms.al_states != master_state.al_states)
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        printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
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    if (ms.link_up != master_state.link_up)
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        printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
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    master_state = ms;
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diff changeset
   157
}
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   158
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   159
/*****************************************************************************/
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   160
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   161
void run(long data)
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   162
{
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   163
    int i;
1508
60a116ed3897 Removed more tabulators.
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parents: 1500
diff changeset
   164
    struct timeval tv;
1414
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   165
    unsigned int sync_ref_counter = 0;
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   166
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   167
    count2timeval(nano2count(rt_get_real_time_ns()), &tv);
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   168
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   169
    while (1) {
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   170
        t_last_cycle = get_cycles();
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   171
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   172
        // receive process data
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   173
        rt_sem_wait(&master_sem);
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   174
        ecrt_master_receive(master);
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   175
        ecrt_domain_process(domain1);
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   176
        rt_sem_signal(&master_sem);
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   177
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   178
        // check process data state (optional)
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   179
        check_domain1_state();
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   180
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   181
        if (counter) {
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   182
            counter--;
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   183
        } else {
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60a116ed3897 Removed more tabulators.
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parents: 1500
diff changeset
   184
            u32 c;
60a116ed3897 Removed more tabulators.
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parents: 1500
diff changeset
   185
1414
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   186
            counter = FREQUENCY;
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   187
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   188
            // check for master state (optional)
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   189
            check_master_state();
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   190
1508
60a116ed3897 Removed more tabulators.
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parents: 1500
diff changeset
   191
            c = EC_READ_U32(domain1_pd + off_counter_in);
60a116ed3897 Removed more tabulators.
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parents: 1500
diff changeset
   192
            if (counter_value != c) {
60a116ed3897 Removed more tabulators.
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parents: 1500
diff changeset
   193
                counter_value = c;
60a116ed3897 Removed more tabulators.
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parents: 1500
diff changeset
   194
                printk(KERN_INFO PFX "counter=%u\n", counter_value);
60a116ed3897 Removed more tabulators.
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parents: 1500
diff changeset
   195
            }
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   196
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   197
        }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   198
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   199
        if (blink_counter) {
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   200
            blink_counter--;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   201
        } else {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   202
            blink_counter = 9;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   203
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   204
            // calculate new process data
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   205
            blink = !blink;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   206
        }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   207
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   208
        // write process data
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   209
        for (i = 0; i < NUM_DIG_OUT; i++) {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   210
            EC_WRITE_U8(domain1_pd + off_dig_out[i], blink ? 0x66 : 0x99);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   211
        }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   212
1508
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   213
        EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   214
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   215
        rt_sem_wait(&master_sem);
1508
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   216
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   217
        tv.tv_usec += 1000;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   218
        if (tv.tv_usec >= 1000000)  {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   219
            tv.tv_usec -= 1000000;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   220
            tv.tv_sec++;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   221
        }
1466
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1449
diff changeset
   222
        ecrt_master_application_time(master, EC_TIMEVAL2NANO(tv));
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   223
            
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   224
        if (sync_ref_counter) {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   225
            sync_ref_counter--;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   226
        } else {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   227
            sync_ref_counter = 9;
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   228
            ecrt_master_sync_reference_clock(master);
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   229
        }
1508
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   230
        ecrt_master_sync_slave_clocks(master);
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   231
        ecrt_domain_queue(domain1);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   232
        ecrt_master_send(master);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   233
        rt_sem_signal(&master_sem);
1508
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   234
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   235
        rt_task_wait_period();
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   236
    }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   237
}
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   238
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   239
/*****************************************************************************/
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   240
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   241
void send_callback(void *cb_data)
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   242
{
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   243
    ec_master_t *m = (ec_master_t *) cb_data;
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   244
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   245
    // too close to the next real time cycle: deny access...
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   246
    if (get_cycles() - t_last_cycle <= t_critical) {
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   247
        rt_sem_wait(&master_sem);
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   248
        ecrt_master_send_ext(m);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   249
        rt_sem_signal(&master_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   250
    }
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   251
}
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   252
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   253
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   254
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   255
void receive_callback(void *cb_data)
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   256
{
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   257
    ec_master_t *m = (ec_master_t *) cb_data;
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   258
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   259
    // too close to the next real time cycle: deny access...
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   260
    if (get_cycles() - t_last_cycle <= t_critical) {
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   261
        rt_sem_wait(&master_sem);
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   262
        ecrt_master_receive(m);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   263
        rt_sem_signal(&master_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   264
    }
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   265
}
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   266
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   267
/*****************************************************************************/
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   268
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   269
int __init init_mod(void)
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   270
{
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   271
    int ret = -1, i;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   272
    RTIME tick_period, requested_ticks, now;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   273
    ec_slave_config_t *sc;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   274
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   275
    printk(KERN_INFO PFX "Starting...\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   276
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   277
    rt_sem_init(&master_sem, 1);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   278
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   279
    t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   280
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   281
    master = ecrt_request_master(0);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   282
    if (!master) {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   283
        ret = -EBUSY; 
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   284
        printk(KERN_ERR PFX "Requesting master 0 failed!\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   285
        goto out_return;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   286
    }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   287
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   288
    ecrt_master_callbacks(master, send_callback, receive_callback, master);
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   289
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   290
    printk(KERN_INFO PFX "Registering domain...\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   291
    if (!(domain1 = ecrt_master_create_domain(master))) {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
        printk(KERN_ERR PFX "Domain creation failed!\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   293
        goto out_release_master;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
    }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   295
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
    printk(KERN_INFO PFX "Configuring PDOs...\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   297
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   298
    // create configuration for reference clock FIXME
1508
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   299
    if (!(sc = ecrt_master_slave_config(master, 0, 0, Beckhoff_EK1100))) {
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   300
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   301
        goto out_release_master;
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   302
    }
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   303
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   304
    for (i = 0; i < NUM_DIG_OUT; i++) {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   305
        if (!(sc = ecrt_master_slave_config(master,
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
                        DigOutSlavePos(i), Beckhoff_EL2008))) {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
            printk(KERN_ERR PFX "Failed to get slave configuration.\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
            goto out_release_master;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   309
        }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
        if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   312
            printk(KERN_ERR PFX "Failed to configure PDOs.\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   313
            goto out_release_master;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
        }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   316
        off_dig_out[i] = ecrt_slave_config_reg_pdo_entry(sc,
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
                0x7000, 1, domain1, NULL);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   318
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   319
        if (off_dig_out[i] < 0)
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   320
            goto out_release_master;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
    }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   322
1508
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   323
    if (!(sc = ecrt_master_slave_config(master,
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   324
                    CounterSlavePos, IDS_Counter))) {
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   325
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   326
        goto out_release_master;
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   327
    }
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   328
    off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   329
            0x6020, 0x11, domain1, NULL);
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   330
    if (off_counter_in < 0)
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   331
        goto out_release_master;
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   332
    off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   333
            0x7020, 1, domain1, NULL);
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   334
    if (off_counter_out < 0)
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   335
        goto out_release_master;
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
    // configure SYNC signals for this slave
1508
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   338
    ecrt_slave_config_dc(sc, 0x0700, 1000000, 440000, 0, 0);
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
    printk(KERN_INFO PFX "Activating master...\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
    if (ecrt_master_activate(master)) {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
        printk(KERN_ERR PFX "Failed to activate master!\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
        goto out_release_master;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
    }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
    // Get internal process data for domain
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
    domain1_pd = ecrt_domain_data(domain1);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
    printk(KERN_INFO PFX "Starting cyclic sample thread...\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   350
    requested_ticks = nano2count(TIMERTICKS);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
    tick_period = start_rt_timer(requested_ticks);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
    printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n",
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
           (int) tick_period, (int) requested_ticks);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
    if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
        printk(KERN_ERR PFX "Failed to init RTAI task!\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
        goto out_stop_timer;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
    }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
    now = rt_get_time();
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
    if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
        printk(KERN_ERR PFX "Failed to run RTAI task!\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
        goto out_stop_task;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
    }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
    printk(KERN_INFO PFX "Initialized.\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
    return 0;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
 out_stop_task:
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
    rt_task_delete(&task);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
 out_stop_timer:
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
    stop_rt_timer();
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
 out_release_master:
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
    printk(KERN_ERR PFX "Releasing master...\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
    ecrt_release_master(master);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
 out_return:
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
    rt_sem_delete(&master_sem);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
    printk(KERN_ERR PFX "Failed to load. Aborting.\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
    return ret;
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
}
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
/*****************************************************************************/
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
void __exit cleanup_mod(void)
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
{
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
    printk(KERN_INFO PFX "Stopping...\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
    rt_task_delete(&task);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
    stop_rt_timer();
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
    ecrt_release_master(master);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
    rt_sem_delete(&master_sem);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
    printk(KERN_INFO PFX "Unloading.\n");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
}
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
/*****************************************************************************/
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
MODULE_LICENSE("GPL");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
MODULE_DESCRIPTION("EtherCAT distributed clocks sample module");
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
module_init(init_mod);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
module_exit(cleanup_mod);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
/*****************************************************************************/