examples/mini/mini.c
author Florian Pose <fp@igh-essen.com>
Tue, 10 Jun 2008 09:05:54 +0000
changeset 982 861eb2810f56
parent 909 3b3087d4cdc5
child 1022 8e49b519e6ba
permissions -rw-r--r--
Open device with correct permissions immediately.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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#include <linux/module.h>
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#include <linux/timer.h>
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#include <linux/spinlock.h>
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#include <linux/interrupt.h>
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#include "../../include/ecrt.h" // EtherCAT realtime interface
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/*****************************************************************************/
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// Module parameters
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#define FREQUENCY 100
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// Optional features
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#define CONFIGURE_PDOS
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#define EXTERNAL_MEMORY
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#define SDO_ACCESS
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#define PFX "ec_mini: "
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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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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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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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static struct timer_list timer;
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static unsigned int counter = 0;
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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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static unsigned int off_ana_in; // offsets for Pdo entries
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static unsigned int off_dig_out;
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static unsigned int blink = 0;
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#define Beckhoff_EL2004 0x00000002, 0x07D43052
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#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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    {0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
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    {0, 3, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
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    {}
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};
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/*****************************************************************************/
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#ifdef CONFIGURE_PDOS
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static ec_pdo_entry_info_t el3162_channel1[] = {
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    {0x3101, 1,  8}, // status
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    {0x3101, 2, 16}  // value
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};
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static ec_pdo_entry_info_t el3162_channel2[] = {
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    {0x3102, 1,  8}, // status
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    {0x3102, 2, 16}  // value
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};
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static ec_pdo_info_t el3162_pdos[] = {
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    {EC_DIR_INPUT, 0x1A00, 2, el3162_channel1},
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    {EC_DIR_INPUT, 0x1A01, 2, el3162_channel2},
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    {EC_END}
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};
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static ec_pdo_entry_info_t el2004_channels[] = {
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    {0x3001, 1, 1}, // Value 1
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    {0x3001, 2, 1}, // Value 2
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    {0x3001, 3, 1}, // Value 3
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    {0x3001, 4, 1}  // Value 4
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};
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static ec_pdo_info_t el2004_pdos[] = {
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    {EC_DIR_OUTPUT, 0x1600, 1, &el2004_channels[0]},
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    {EC_DIR_OUTPUT, 0x1601, 1, &el2004_channels[1]},
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    {EC_DIR_OUTPUT, 0x1602, 1, &el2004_channels[2]},
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    {EC_DIR_OUTPUT, 0x1603, 1, &el2004_channels[3]},
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};
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#endif
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/*****************************************************************************/
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#ifdef SDO_ACCESS
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static ec_sdo_request_t *sdo;
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#endif
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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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    ecrt_domain_state(domain1, &ds);
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    if (ds.working_counter != domain1_state.working_counter)
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        printk(KERN_INFO PFX "domain1 working_counter changed to %u.\n",
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                ds.working_counter);
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    if (ds.wc_state != domain1_state.wc_state)
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        printk(KERN_INFO PFX "domain1 wc_state changed to %u.\n",
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                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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   147
    ec_master_state_t ms;
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   149
    spin_lock(&master_lock);
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    ecrt_master_state(master, &ms);
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    spin_unlock(&master_lock);
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    if (ms.slaves_responding != master_state.slaves_responding) {
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        printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
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   155
                ms.slaves_responding);
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   156
    }
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    master_state = ms;
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}
220
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/*****************************************************************************/
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858
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#ifdef SDO_ACCESS
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   164
void read_sdo(void)
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   165
{
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   166
    switch (ecrt_sdo_request_state(sdo)) {
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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   167
        case EC_SDO_REQUEST_UNUSED: // request was not used yet
880
f6212c54a5e3 Implemented Sdo timeout.
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diff changeset
   168
            ecrt_sdo_request_timeout(sdo, 500); // ms
867
93a0180ee938 Minor changes.
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   169
            ecrt_sdo_request_read(sdo); // trigger first read
858
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   170
            break;
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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   171
        case EC_SDO_REQUEST_BUSY:
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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   172
            printk(KERN_INFO PFX "Still busy...\n");
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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   173
            break;
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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diff changeset
   174
        case EC_SDO_REQUEST_SUCCESS:
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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   175
            printk(KERN_INFO PFX "Sdo value: 0x%04X\n",
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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   176
                    EC_READ_U16(ecrt_sdo_request_data(sdo)));
867
93a0180ee938 Minor changes.
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   177
            ecrt_sdo_request_read(sdo); // trigger next read
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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   178
            break;
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diff changeset
   179
        case EC_SDO_REQUEST_ERROR:
858
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   180
            printk(KERN_INFO PFX "Failed to read Sdo!\n");
867
93a0180ee938 Minor changes.
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   181
            ecrt_sdo_request_read(sdo); // retry reading
858
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   182
            break;
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   183
    }
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   184
}
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   185
#endif
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   186
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   187
/*****************************************************************************/
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   188
820
f8e6f5966cce Cleaned up mini module.
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   189
void cyclic_task(unsigned long data)
f8e6f5966cce Cleaned up mini module.
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   190
{
818
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   191
    // receive process data
220
342ad851ec78 Added examples directory.
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   192
    spin_lock(&master_lock);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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diff changeset
   193
    ecrt_master_receive(master);
220
342ad851ec78 Added examples directory.
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diff changeset
   194
    ecrt_domain_process(domain1);
512
24292123d174 Shorter critical sections in examples.
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diff changeset
   195
    spin_unlock(&master_lock);
220
342ad851ec78 Added examples directory.
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diff changeset
   196
818
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   197
    // check process data state (optional)
b6c87ae254c9 Calculate expected working counter for domains.
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   198
    check_domain1_state();
512
24292123d174 Shorter critical sections in examples.
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diff changeset
   199
24292123d174 Shorter critical sections in examples.
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diff changeset
   200
    if (counter) {
24292123d174 Shorter critical sections in examples.
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diff changeset
   201
        counter--;
858
69122084d066 Basic reading realtime Sdo access working.
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diff changeset
   202
    } else { // do this at 1 Hz
512
24292123d174 Shorter critical sections in examples.
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diff changeset
   203
        counter = FREQUENCY;
818
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   204
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   205
        // calculate new process data
512
24292123d174 Shorter critical sections in examples.
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diff changeset
   206
        blink = !blink;
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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parents: 551
diff changeset
   207
818
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   208
        // check for master state (optional)
b6c87ae254c9 Calculate expected working counter for domains.
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   209
        check_master_state();
858
69122084d066 Basic reading realtime Sdo access working.
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diff changeset
   210
        
69122084d066 Basic reading realtime Sdo access working.
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diff changeset
   211
#ifdef SDO_ACCESS
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   212
        // read process data Sdo
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diff changeset
   213
        read_sdo();
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diff changeset
   214
#endif
818
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diff changeset
   215
    }
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diff changeset
   216
b6c87ae254c9 Calculate expected working counter for domains.
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   217
    // write process data
846
19248bbf9308 Cross blinking.
Florian Pose <fp@igh-essen.com>
parents: 820
diff changeset
   218
    EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
818
b6c87ae254c9 Calculate expected working counter for domains.
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diff changeset
   219
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
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diff changeset
   220
    // send process data
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   221
    spin_lock(&master_lock);
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents: 472
diff changeset
   222
    ecrt_domain_queue(domain1);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 280
diff changeset
   223
    ecrt_master_send(master);
220
342ad851ec78 Added examples directory.
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parents:
diff changeset
   224
    spin_unlock(&master_lock);
342ad851ec78 Added examples directory.
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parents:
diff changeset
   225
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   226
    // restart timer
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   227
    timer.expires += HZ / FREQUENCY;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   228
    add_timer(&timer);
342ad851ec78 Added examples directory.
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parents:
diff changeset
   229
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
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diff changeset
   230
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   231
/*****************************************************************************/
342ad851ec78 Added examples directory.
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parents:
diff changeset
   232
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   233
int request_lock(void *data)
342ad851ec78 Added examples directory.
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parents:
diff changeset
   234
{
516
f703e33ee395 Adjusted examples to EtherLab starter kit hardware.
Florian Pose <fp@igh-essen.com>
parents: 513
diff changeset
   235
    spin_lock(&master_lock);
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   236
    return 0; // access allowed
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   237
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   238
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   239
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   240
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   241
void release_lock(void *data)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   242
{
516
f703e33ee395 Adjusted examples to EtherLab starter kit hardware.
Florian Pose <fp@igh-essen.com>
parents: 513
diff changeset
   243
    spin_unlock(&master_lock);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   244
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   245
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
int __init init_mini_module(void)
342ad851ec78 Added examples directory.
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parents:
diff changeset
   249
{
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   250
#ifdef CONFIGURE_PDOS
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   251
    ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   252
#endif
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   253
#ifdef EXTERNAL_MEMORY
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   254
    unsigned int size;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   255
#endif
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   256
    
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   257
    printk(KERN_INFO PFX "Starting...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   258
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents: 472
diff changeset
   259
    if (!(master = ecrt_request_master(0))) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   260
        printk(KERN_ERR PFX "Requesting master 0 failed!\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   261
        goto out_return;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   262
    }
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   263
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   264
    ecrt_master_callbacks(master, request_lock, release_lock, NULL);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   265
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   266
    printk(KERN_INFO PFX "Registering domain...\n");
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents: 472
diff changeset
   267
    if (!(domain1 = ecrt_master_create_domain(master))) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   268
        printk(KERN_ERR PFX "Domain creation failed!\n");
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   269
        goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   270
    }
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   271
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   272
#ifdef CONFIGURE_PDOS
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   273
    printk(KERN_INFO PFX "Configuring Pdos...\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   274
    if (!(sc = ecrt_master_slave_config(master, 0, 1, Beckhoff_EL3162))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   275
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   276
        goto out_release_master;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   277
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   278
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   279
    if (ecrt_slave_config_pdos(sc, EC_END, el3162_pdos)) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   280
        printk(KERN_ERR PFX "Failed to configure Pdos.\n");
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   281
        goto out_release_master;
ec4ef8911824 External domain memory.
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parents: 799
diff changeset
   282
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
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diff changeset
   283
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   284
    if (!(sc = ecrt_master_slave_config(master, 0, 3, Beckhoff_EL2004))) {
ec4ef8911824 External domain memory.
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parents: 799
diff changeset
   285
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   286
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   287
    }
ec4ef8911824 External domain memory.
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parents: 799
diff changeset
   288
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   289
    if (ecrt_slave_config_pdos(sc, 4, el2004_pdos)) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   290
        printk(KERN_ERR PFX "Failed to configure Pdos.\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   291
        goto out_release_master;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   292
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   293
#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   294
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   295
#ifdef SDO_ACCESS
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   296
    printk(KERN_INFO PFX "Creating Sdo requests...\n");
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   297
    if (!(sc = ecrt_master_slave_config(master, 0, 1, Beckhoff_EL3162))) {
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   298
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   299
        goto out_release_master;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   300
    }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   301
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   302
    if (!(sdo = ecrt_slave_config_create_sdo_request(sc, 0x3102, 2, 2))) {
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   303
        printk(KERN_ERR PFX "Failed to create Sdo request.\n");
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   304
        goto out_release_master;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   305
    }
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   306
#endif
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   307
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   308
    printk(KERN_INFO PFX "Registering Pdo entries...\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   309
    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   310
        printk(KERN_ERR PFX "Pdo entry registration failed!\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   311
        goto out_release_master;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   312
    }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   313
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   314
#ifdef EXTERNAL_MEMORY
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   315
    if ((size = ecrt_domain_size(domain1))) {
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   316
        if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   317
            printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   318
                    " memory!\n", size);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   319
            goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   320
        }
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   321
        ecrt_domain_external_memory(domain1, domain1_pd);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   322
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   323
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   324
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
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)) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   327
        printk(KERN_ERR PFX "Failed to activate master!\n");
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   328
#ifdef EXTERNAL_MEMORY
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   329
        goto out_free_process_data;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   330
#else
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   331
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   332
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   333
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   334
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   335
#ifndef EXTERNAL_MEMORY
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   336
    // Get internal process data for domain
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   337
    domain1_pd = ecrt_domain_data(domain1);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   338
#endif
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   339
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   340
    printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
    init_timer(&timer);
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   342
    timer.function = cyclic_task;
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
    timer.expires = jiffies + 10;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
    add_timer(&timer);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   346
    printk(KERN_INFO PFX "Started.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
    return 0;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   349
#ifdef EXTERNAL_MEMORY
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   350
out_free_process_data:
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   351
    kfree(domain1_pd);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   352
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   353
out_release_master:
654
8278e1e27010 Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   354
    printk(KERN_ERR PFX "Releasing master...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
    ecrt_release_master(master);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   356
out_return:
654
8278e1e27010 Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   357
    printk(KERN_ERR PFX "Failed to load. Aborting.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
    return -1;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
void __exit cleanup_mini_module(void)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
{
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   365
    printk(KERN_INFO PFX "Stopping...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   367
    del_timer_sync(&timer);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   368
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   369
#ifdef EXTERNAL_MEMORY
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   370
    kfree(domain1_pd);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   371
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   372
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   373
    printk(KERN_INFO PFX "Releasing master...\n");
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   374
    ecrt_release_master(master);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
654
8278e1e27010 Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   376
    printk(KERN_INFO PFX "Unloading.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
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
MODULE_LICENSE("GPL");
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   382
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   383
MODULE_DESCRIPTION("EtherCAT minimal test environment");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
module_init(init_mini_module);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
module_exit(cleanup_mini_module);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
/*****************************************************************************/