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/******************************************************************************

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 *

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 * m i n i . c

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 *

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 * Minimalmodul für EtherCAT

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 *

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 * $Id$

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 *

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 *****************************************************************************/

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#include <linux/module.h>

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#include <linux/delay.h>

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#include <linux/timer.h>

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#include "../include/ecrt.h" // Echtzeitschnittstelle

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#define ASYNC

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/*****************************************************************************/

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#define ABTASTFREQUENZ 100

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struct timer_list timer;

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/*****************************************************************************/

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// EtherCAT

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ec_master_t *master = NULL;

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ec_domain_t *domain1 = NULL;

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// Datenfelder

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//void *r_ssi_input, *r_ssi_status, *r_4102[3];

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// Kanäle

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uint32_t k_pos;

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uint8_t k_stat;

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ec_field_init_t domain1_fields[] = {

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    {NULL, "1", "Beckhoff", "EL1014", "InputValue",  0},

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    {NULL, "2", "Beckhoff", "EL2004", "OutputValue", 0},

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    //{NULL, "3", "Beckhoff", "EL3162", "InputValue",  0},

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    {NULL, "4", "Beckhoff", "EL4132", "OutputValue",  0},

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    {NULL, "6", "Beckhoff", "EL5001", "InputValue", 0},

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    {}

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};

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/*****************************************************************************/

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void run(unsigned long data)

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{

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    static unsigned int counter = 0;

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#ifdef ASYNC

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    // Prozessdaten empfangen

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    ecrt_master_async_receive(master);

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    ecrt_domain_process(domain1);

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    // Prozessdaten verarbeiten

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    //k_pos   = EC_READ_U32(r_ssi_input);

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    //k_stat  = EC_READ_U8(r_ssi_status);

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    // Prozessdaten senden

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    ecrt_domain_queue(domain1);

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    ecrt_master_async_send(master);

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#else

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    // Prozessdaten senden und empfangen

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    ecrt_domain_queue(domain1);

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    ecrt_master_sync_io(master);

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    ecrt_domain_process(domain1);

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    // Prozessdaten verarbeiten

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    //k_pos   = EC_READ_U32(r_ssi_input);

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    //k_stat  = EC_READ_U8(r_ssi_status);

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#endif

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    if (counter) {

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        counter--;

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    }

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    else {

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        counter = ABTASTFREQUENZ;

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        //printk(KERN_INFO "k_pos    = %i\n", k_pos);

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        //printk(KERN_INFO "k_stat   = 0x%02X\n", k_stat);

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    }

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    // Timer neu starten

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    timer.expires += HZ / ABTASTFREQUENZ;

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    add_timer(&timer);

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}

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/*****************************************************************************/

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int __init init_mini_module(void)

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{

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    printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");

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    if ((master = ecrt_request_master(0)) == NULL) {

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        printk(KERN_ERR "Requesting master 0 failed!\n");

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        goto out_return;

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    }

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    ecrt_master_print(master);

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    printk(KERN_INFO "Registering domain...\n");

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    if (!(domain1 = ecrt_master_create_domain(master)))

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    {

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        printk(KERN_ERR "Domain creation failed!\n");

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        goto out_release_master;

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    }

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    printk(KERN_INFO "Registering domain fields...\n");

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    if (ecrt_domain_register_field_list(domain1, domain1_fields)) {

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        printk(KERN_ERR "Field registration failed!\n");

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        goto out_release_master;

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    }

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    printk(KERN_INFO "Activating master...\n");

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    if (ecrt_master_activate(master)) {

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        printk(KERN_ERR "Failed to activate master!\n");

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        goto out_release_master;

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    }

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    if (ecrt_master_fetch_sdo_lists(master)) {

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        printk(KERN_ERR "Failed to fetch SDO lists!\n");

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        goto out_deactivate;

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    }

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    //ecrt_master_debug(master, 2);

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#if 0

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    if (!(slave = ecrt_master_get_slave(master, "5"))) {

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        printk(KERN_ERR "Failed to get slave 5!\n");

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        goto out_deactivate;

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    }

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    if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  0) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  1) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  0) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  4) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {

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        printk(KERN_ERR "Failed to configure SSI slave!\n");

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        goto out_deactivate;

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    }

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#endif

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    //ecrt_master_debug(master, 0);

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#if 0

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    printk(KERN_INFO "Writing alias...\n");

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    if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {

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        printk(KERN_ERR "Failed to write alias!\n");

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        goto out_deactivate;

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    }

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#endif

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#ifdef ASYNC

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    // Einmal senden und warten...

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    ecrt_master_prepare_async_io(master);

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#endif

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    printk("Starting cyclic sample thread.\n");

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    init_timer(&timer);

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    timer.function = run;

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    timer.expires = jiffies + 10; // Das erste Mal sofort feuern

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    add_timer(&timer);

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    printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");

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    return 0;

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 out_deactivate:

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    ecrt_master_deactivate(master);

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 out_release_master:

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    ecrt_release_master(master);

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 out_return:

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    return -1;

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}

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/*****************************************************************************/

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void __exit cleanup_mini_module(void)

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{

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    printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");

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    if (master) {

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        del_timer_sync(&timer);

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        printk(KERN_INFO "Deactivating master...\n");

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        ecrt_master_deactivate(master);

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        ecrt_release_master(master);

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    }

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    printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");

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}

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/*****************************************************************************/

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MODULE_LICENSE("GPL");

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MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");

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MODULE_DESCRIPTION ("EtherCAT minimal test environment");

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module_init(init_mini_module);

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module_exit(cleanup_mini_module);

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/*****************************************************************************/

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/* Emacs-Konfiguration

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;;; Local Variables: ***

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;;; c-basic-offset:4 ***

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;;; End: ***

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*/