etherlabmaster: examples/rtai/rtai_sample.c@815789678f26 (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	*
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	3	* RTAI sample for the IgH EtherCAT master.
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* $Id$
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	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* This file is part of the IgH EtherCAT Master.
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* The IgH EtherCAT Master is free software; you can redistribute it
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 233 diff changeset	13	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 233 diff changeset	14	* License, or (at your option) any later version.
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* The IgH EtherCAT Master is distributed in the hope that it will be
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* GNU General Public License for more details.
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* You should have received a copy of the GNU General Public License
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	* along with the IgH EtherCAT Master; if not, write to the Free Software
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* 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	24	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 233 diff changeset	25	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 233 diff changeset	26	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 233 diff changeset	27	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 233 diff changeset	28	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 233 diff changeset	29	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 233 diff changeset	30	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 233 diff changeset	31	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 233 diff changeset	32	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 233 diff changeset	33	*
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	35
233 31d327ce38d3 Smaller fixes on RTAI example. Florian Pose <fp@igh-essen.com> parents: 230 diff changeset	36	// Linux
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include <linux/module.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
230 382bdb9138ec RTAI sample with optimized jitter. Florian Pose <fp@igh-essen.com> parents: 227 diff changeset	39	// RTAI
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	40	#include <rtai_sched.h>
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	41	#include <rtai_sem.h>
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	42
233 31d327ce38d3 Smaller fixes on RTAI example. Florian Pose <fp@igh-essen.com> parents: 230 diff changeset	43	// EtherCAT
230 382bdb9138ec RTAI sample with optimized jitter. Florian Pose <fp@igh-essen.com> parents: 227 diff changeset	44	#include "../../include/ecrt.h"
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	45
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	46	/*****************************************************************************/
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	47
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	48	// Module parameters
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	49
1681 6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	50	#define FREQUENCY 2000 // task frequency in Hz
342 cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	51	#define INHIBIT_TIME 20
cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	52
230 382bdb9138ec RTAI sample with optimized jitter. Florian Pose <fp@igh-essen.com> parents: 227 diff changeset	53	#define TIMERTICKS (1000000000 / FREQUENCY)
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	54
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	55	// Optional features (comment to disable)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	56	#define CONFIGURE_PDOS
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	57
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	58	#define PFX "ec_rtai_sample: "
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	59
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	60	/*****************************************************************************/
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	61
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	62	// EtherCAT
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	63	static ec_master_t *master = NULL;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	64	static ec_master_state_t master_state = {};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	65	spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	66
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	67	static ec_domain_t *domain1 = NULL;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	68	static ec_domain_state_t domain1_state = {};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	69
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	70	static ec_slave_config_t *sc_ana_in = NULL;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	71	static ec_slave_config_state_t sc_ana_in_state = {};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	72
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	73	// RTAI
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	74	static RT_TASK task;
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	75	static SEM master_sem;
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	76	static cycles_t t_last_cycle = 0, t_critical;
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	77
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	78	/*****************************************************************************/
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	79
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	80	// process data
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	81	static uint8_t *domain1_pd; // process data memory
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	82
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	83	#define AnaInSlavePos 0, 1
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	84	#define DigOutSlavePos 0, 3
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	85
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	86	#define Beckhoff_EL2004 0x00000002, 0x07D43052
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	87	#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	88
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	89	static unsigned int off_ana_in; // offsets for Pdo entries
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	90	static unsigned int off_dig_out;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	91
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	92	const static ec_pdo_entry_reg_t domain1_regs[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	93	{AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	94	{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	{}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	};
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	97
1681 6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	98	static unsigned int counter = 0;
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	99	static unsigned int blink = 0;
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	100
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	101	/*****************************************************************************/
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	102
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	103	#ifdef CONFIGURE_PDOS
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	104	static ec_pdo_entry_info_t el3162_channel1[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	105	{0x3101, 1, 8}, // status
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	106	{0x3101, 2, 16} // value
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	107	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	108
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	109	static ec_pdo_entry_info_t el3162_channel2[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	110	{0x3102, 1, 8}, // status
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	111	{0x3102, 2, 16} // value
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	112	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	113
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	114	static ec_pdo_info_t el3162_pdos[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	115	{0x1A00, 2, el3162_channel1},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	116	{0x1A01, 2, el3162_channel2}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	117	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	118
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	119	static ec_sync_info_t el3162_syncs[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	120	{2, EC_DIR_OUTPUT},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	121	{3, EC_DIR_INPUT, 2, el3162_pdos},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	122	{0xff}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	123	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	124
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	125	static ec_pdo_entry_info_t el2004_channels[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	126	{0x3001, 1, 1}, // Value 1
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	127	{0x3001, 2, 1}, // Value 2
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	128	{0x3001, 3, 1}, // Value 3
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	129	{0x3001, 4, 1} // Value 4
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	130	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	131
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	132	static ec_pdo_info_t el2004_pdos[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	133	{0x1600, 1, &el2004_channels[0]},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	134	{0x1601, 1, &el2004_channels[1]},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	135	{0x1602, 1, &el2004_channels[2]},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	136	{0x1603, 1, &el2004_channels[3]}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	137	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	138
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	139	static ec_sync_info_t el2004_syncs[] = {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	140	{0, EC_DIR_OUTPUT, 4, el2004_pdos},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	141	{1, EC_DIR_INPUT},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	142	{0xff}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	143	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	144	#endif
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	145
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	146	/*****************************************************************************/
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	147
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	148	void check_domain1_state(void)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	149	{
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	150	ec_domain_state_t ds;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	151
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	152	spin_lock(&master_lock);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	153	ecrt_domain_state(domain1, &ds);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	154	spin_unlock(&master_lock);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	155
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	156	if (ds.working_counter != domain1_state.working_counter)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	157	printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	158	if (ds.wc_state != domain1_state.wc_state)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	159	printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	160
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	161	domain1_state = ds;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	162	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	163
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	164	/*****************************************************************************/
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	165
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	166	void check_master_state(void)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	167	{
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	168	ec_master_state_t ms;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	169
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	170	spin_lock(&master_lock);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	171	ecrt_master_state(master, &ms);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	172	spin_unlock(&master_lock);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	173
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	174	if (ms.slaves_responding != master_state.slaves_responding)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	175	printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	176	if (ms.al_states != master_state.al_states)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	177	printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	178	if (ms.link_up != master_state.link_up)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	179	printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	180
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	181	master_state = ms;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	182	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	183
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	184	/*****************************************************************************/
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	185
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	186	void check_slave_config_states(void)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	187	{
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	188	ec_slave_config_state_t s;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	189
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	190	spin_lock(&master_lock);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	191	ecrt_slave_config_state(sc_ana_in, &s);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	192	spin_unlock(&master_lock);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	193
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	194	if (s.al_state != sc_ana_in_state.al_state)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	195	printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	196	if (s.online != sc_ana_in_state.online)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	197	printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	198	if (s.operational != sc_ana_in_state.operational)
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	199	printk(KERN_INFO PFX "AnaIn: %soperational.\n",
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	200	s.operational ? "" : "Not ");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	201
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	202	sc_ana_in_state = s;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	203	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	204
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	206
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	207	void run(long data)
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	208	{
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	209	while (1) {
342 cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	210	t_last_cycle = get_cycles();
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	211
1681 6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	212	// receive process data
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	213	rt_sem_wait(&master_sem);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	214	ecrt_master_receive(master);
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	215	ecrt_domain_process(domain1);
1681 6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	216	rt_sem_signal(&master_sem);
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	217
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	218	// check process data state (optional)
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	219	check_domain1_state();
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	220
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	221	if (counter) {
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	222	counter--;
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	223	} else { // do this at 1 Hz
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	224	counter = FREQUENCY;
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	225
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	226	// calculate new process data
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	227	blink = !blink;
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	228
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	229	// check for master state (optional)
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	230	check_master_state();
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	231
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	232	// check for islave configuration state(s) (optional)
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	233	check_slave_config_states();
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	234	}
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	235
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	236	// write process data
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	237	EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	238
6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	239	rt_sem_wait(&master_sem);
1680 8765cdafdc17 TODO. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	240	ecrt_domain_queue(domain1);
8765cdafdc17 TODO. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	241	ecrt_master_send(master);
1681 6e8477e16eec Reverted rtai example changes. Florian Pose <fp@igh-essen.com> parents: 1680 diff changeset	242	rt_sem_signal(&master_sem);
516 f703e33ee395 Adjusted examples to EtherLab starter kit hardware. Florian Pose <fp@igh-essen.com> parents: 512 diff changeset	243
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	244	rt_task_wait_period();
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	245	}
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	247
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	248	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	249
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	int request_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	{
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	252	// too close to the next real time cycle: deny access...
342 cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	253	if (get_cycles() - t_last_cycle > t_critical) return -1;
230 382bdb9138ec RTAI sample with optimized jitter. Florian Pose <fp@igh-essen.com> parents: 227 diff changeset	254
382bdb9138ec RTAI sample with optimized jitter. Florian Pose <fp@igh-essen.com> parents: 227 diff changeset	255	// allow access
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	256	rt_sem_wait(&master_sem);
230 382bdb9138ec RTAI sample with optimized jitter. Florian Pose <fp@igh-essen.com> parents: 227 diff changeset	257	return 0;
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	258	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	259
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	261
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	void release_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	{
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	264	rt_sem_signal(&master_sem);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	265	}
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	266
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	267	/*****************************************************************************/
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	268
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	269	int __init init_mod(void)
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	270	{
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	271	RTIME tick_period, requested_ticks, now;
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	272	#ifdef CONFIGURE_PDOS
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	273	ec_slave_config_t *sc;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	274	#endif
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	275
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	276	printk(KERN_INFO PFX "Starting...\n");
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	277
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	278	rt_sem_init(&master_sem, 1);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	279
342 cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	280	t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	281
cbcff2f19e99 RTAI example with INHIBIT time. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	282	if (!(master = ecrt_request_master(0))) {
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	283	printk(KERN_ERR PFX "Requesting master 0 failed!\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	goto out_return;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	286
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	ecrt_master_callbacks(master, request_lock, release_lock, NULL);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	288
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	289	printk(KERN_INFO PFX "Registering domain...\n");
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 259 diff changeset	290	if (!(domain1 = ecrt_master_create_domain(master))) {
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	291	printk(KERN_ERR PFX "Domain creation failed!\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	goto out_release_master;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	294
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	295	if (!(sc_ana_in = ecrt_master_slave_config(
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	296	master, AnaInSlavePos, Beckhoff_EL3162))) {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	297	printk(KERN_ERR PFX "Failed to get slave configuration.\n");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	298	goto out_release_master;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	299	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	300
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	301	#ifdef CONFIGURE_PDOS
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	302	printk(KERN_INFO PFX "Configuring Pdos...\n");
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1080 diff changeset	303	if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	304	printk(KERN_ERR PFX "Failed to configure Pdos.\n");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	305	goto out_release_master;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	306	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	307
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	308	if (!(sc = ecrt_master_slave_config(master, DigOutSlavePos, Beckhoff_EL2004))) {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	309	printk(KERN_ERR PFX "Failed to get slave configuration.\n");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	310	goto out_release_master;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	311	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	312
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1080 diff changeset	313	if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	314	printk(KERN_ERR PFX "Failed to configure Pdos.\n");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	315	goto out_release_master;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	316	}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	317	#endif
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	318
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	319	printk(KERN_INFO PFX "Registering Pdo entries...\n");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	320	if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	321	printk(KERN_ERR PFX "Pdo entry registration failed!\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	goto out_release_master;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	323	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	324
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	325	printk(KERN_INFO PFX "Activating master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	if (ecrt_master_activate(master)) {
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	327	printk(KERN_ERR PFX "Failed to activate master!\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	goto out_release_master;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	329	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	330
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	331	// Get internal process data for domain
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	332	domain1_pd = ecrt_domain_data(domain1);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	333
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	334	printk(KERN_INFO PFX "Starting cyclic sample thread...\n");
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	335	requested_ticks = nano2count(TIMERTICKS);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	336	tick_period = start_rt_timer(requested_ticks);
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	337	printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n",
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	338	(int) tick_period, (int) requested_ticks);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	339
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	340	if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	341	printk(KERN_ERR PFX "Failed to init RTAI task!\n");
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	342	goto out_stop_timer;
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	343	}
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	344
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	345	now = rt_get_time();
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	346	if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	347	printk(KERN_ERR PFX "Failed to run RTAI task!\n");
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	348	goto out_stop_task;
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	349	}
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	350
643 78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(), Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	351	printk(KERN_INFO PFX "Initialized.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	return 0;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	353
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	354	out_stop_task:
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	355	rt_task_delete(&task);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	356	out_stop_timer:
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	357	stop_rt_timer();
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	358	out_release_master:
655 3702f0d6693b Merged changes of examples/mini/mini.c -r858:859 to Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	359	printk(KERN_ERR PFX "Releasing master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	360	ecrt_release_master(master);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	361	out_return:
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	362	rt_sem_delete(&master_sem);
655 3702f0d6693b Merged changes of examples/mini/mini.c -r858:859 to Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	363	printk(KERN_ERR PFX "Failed to load. Aborting.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	364	return -1;
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
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	367	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	368
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	369	void __exit cleanup_mod(void)
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	370	{
655 3702f0d6693b Merged changes of examples/mini/mini.c -r858:859 to Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	371	printk(KERN_INFO PFX "Stopping...\n");
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	372
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	373	rt_task_delete(&task);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	374	stop_rt_timer();
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	375	ecrt_release_master(master);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	376	rt_sem_delete(&master_sem);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	377
655 3702f0d6693b Merged changes of examples/mini/mini.c -r858:859 to Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	378	printk(KERN_INFO PFX "Unloading.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	379	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	380
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	381	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	382
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	383	MODULE_LICENSE("GPL");
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	384	MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	385	MODULE_DESCRIPTION("EtherCAT RTAI sample module");
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	386
225 9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	387	module_init(init_mod);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	388	module_exit(cleanup_mod);
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	389
9e8150db6fc8 Applied RTAI interface to RTAI example. Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	390	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 29 Dec 2008 13:07:38 +0000
branch	stable-1.4
changeset 1683	815789678f26
parent 1681	6e8477e16eec
child 1685	399ef727bf62
permissions	-rw-r--r--