0
|
1 |
/******************************************************************************
|
|
2 |
*
|
|
3 |
* ec_mini.c
|
|
4 |
*
|
|
5 |
* Minimalmodul für EtherCAT
|
|
6 |
*
|
|
7 |
* $Id$
|
|
8 |
*
|
|
9 |
******************************************************************************/
|
|
10 |
|
|
11 |
#include <linux/module.h>
|
|
12 |
#include <linux/tqueue.h>
|
|
13 |
#include <linux/slab.h>
|
|
14 |
#include <linux/delay.h>
|
|
15 |
|
|
16 |
#include "../drivers/ec_master.h"
|
|
17 |
#include "../drivers/ec_device.h"
|
|
18 |
#include "../drivers/ec_types.h"
|
|
19 |
#include "../drivers/ec_dbg.h"
|
|
20 |
|
|
21 |
extern EtherCAT_device_t rtl_ecat_dev;
|
|
22 |
|
|
23 |
//static EtherCAT_master_t *ecat_master = NULL;
|
|
24 |
|
|
25 |
#if 0
|
|
26 |
static EtherCAT_slave_t ecat_slaves[] =
|
|
27 |
{
|
|
28 |
// Block 1
|
|
29 |
ECAT_INIT_SLAVE(Beckhoff_EK1100),
|
|
30 |
ECAT_INIT_SLAVE(Beckhoff_EL4102),
|
|
31 |
ECAT_INIT_SLAVE(Beckhoff_EL3162),
|
|
32 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
33 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
34 |
ECAT_INIT_SLAVE(Beckhoff_EL3102),
|
|
35 |
ECAT_INIT_SLAVE(Beckhoff_EL4102),
|
|
36 |
ECAT_INIT_SLAVE(Beckhoff_EL4102),
|
|
37 |
ECAT_INIT_SLAVE(Beckhoff_EL4102),
|
|
38 |
ECAT_INIT_SLAVE(Beckhoff_EL3162),
|
|
39 |
ECAT_INIT_SLAVE(Beckhoff_EL3162),
|
|
40 |
ECAT_INIT_SLAVE(Beckhoff_EL3162),
|
|
41 |
ECAT_INIT_SLAVE(Beckhoff_EL3102),
|
|
42 |
ECAT_INIT_SLAVE(Beckhoff_EL3102),
|
|
43 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
44 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
45 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
46 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
47 |
|
|
48 |
// Block 2
|
|
49 |
ECAT_INIT_SLAVE(Beckhoff_EK1100),
|
|
50 |
ECAT_INIT_SLAVE(Beckhoff_EL4102),
|
|
51 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
52 |
ECAT_INIT_SLAVE(Beckhoff_EL3162),
|
|
53 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
54 |
ECAT_INIT_SLAVE(Beckhoff_EL3102),
|
|
55 |
|
|
56 |
// Block 3
|
|
57 |
ECAT_INIT_SLAVE(Beckhoff_EK1100),
|
|
58 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
59 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
60 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
61 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
62 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
63 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
64 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
65 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
66 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
67 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
68 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
69 |
ECAT_INIT_SLAVE(Beckhoff_EL1014)
|
|
70 |
};
|
|
71 |
|
|
72 |
#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
|
|
73 |
#endif
|
|
74 |
|
|
75 |
double value;
|
|
76 |
int dig1;
|
|
77 |
|
|
78 |
/******************************************************************************
|
|
79 |
*
|
|
80 |
* Function: next2004
|
|
81 |
*
|
|
82 |
*****************************************************************************/
|
|
83 |
|
|
84 |
#if 0
|
|
85 |
static int next2004(int *wrap)
|
|
86 |
{
|
|
87 |
static int i = 0;
|
|
88 |
unsigned int j = 0;
|
|
89 |
|
|
90 |
*wrap = 0;
|
|
91 |
|
|
92 |
for (j = 0; j < ECAT_SLAVES_COUNT; j++)
|
|
93 |
{
|
|
94 |
i++;
|
|
95 |
|
|
96 |
i %= ECAT_SLAVES_COUNT;
|
|
97 |
|
|
98 |
if (i == 0) *wrap = 1;
|
|
99 |
|
|
100 |
if (ecat_slaves[i].desc == Beckhoff_EL2004)
|
|
101 |
{
|
|
102 |
return i;
|
|
103 |
}
|
|
104 |
}
|
|
105 |
|
|
106 |
return -1;
|
|
107 |
}
|
|
108 |
#endif
|
|
109 |
|
|
110 |
/******************************************************************************
|
|
111 |
*
|
|
112 |
* Function: msr_controller
|
|
113 |
*
|
|
114 |
* Beschreibung: Zyklischer Prozess
|
|
115 |
*
|
|
116 |
*****************************************************************************/
|
|
117 |
|
|
118 |
#if 0
|
|
119 |
void msr_controller()
|
|
120 |
{
|
|
121 |
static int ms = 0;
|
|
122 |
static int cnt = 0;
|
|
123 |
static unsigned long int k = 0;
|
|
124 |
static int firstrun = 1;
|
|
125 |
|
|
126 |
static int klemme = 12;
|
|
127 |
static int kanal = 0;
|
|
128 |
static int up_down = 0;
|
|
129 |
int wrap = 0;
|
|
130 |
|
|
131 |
ms++;
|
|
132 |
ms %= 1000;
|
|
133 |
|
|
134 |
#if 0
|
|
135 |
ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
|
|
136 |
/ (current_cpu_data.loops_per_jiffy / 10);
|
|
137 |
ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
|
|
138 |
/ (current_cpu_data.loops_per_jiffy / 10);
|
|
139 |
|
|
140 |
rx_intr = ecat_master->dev->rx_intr_cnt;
|
|
141 |
tx_intr = ecat_master->dev->tx_intr_cnt;
|
|
142 |
total_intr = ecat_master->dev->intr_cnt;
|
|
143 |
#endif
|
|
144 |
|
|
145 |
// Prozessdaten lesen
|
|
146 |
if (!firstrun)
|
|
147 |
{
|
|
148 |
EtherCAT_read_process_data(ecat_master);
|
|
149 |
|
|
150 |
// Daten lesen und skalieren
|
|
151 |
value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.7;
|
|
152 |
dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
|
|
153 |
}
|
|
154 |
|
|
155 |
// Daten schreiben
|
|
156 |
EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
|
|
157 |
EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
|
|
158 |
EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
|
|
159 |
EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
|
|
160 |
|
|
161 |
if (cnt++ > 20)
|
|
162 |
{
|
|
163 |
cnt = 0;
|
|
164 |
|
|
165 |
if (++kanal > 3)
|
|
166 |
{
|
|
167 |
kanal = 0;
|
|
168 |
klemme = next2004(&wrap);
|
|
169 |
|
|
170 |
if (wrap == 1)
|
|
171 |
{
|
|
172 |
if (up_down == 1) up_down = 0;
|
|
173 |
else up_down = 1;
|
|
174 |
}
|
|
175 |
}
|
|
176 |
}
|
|
177 |
|
|
178 |
if (klemme >= 0)
|
|
179 |
EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
|
|
180 |
|
|
181 |
//EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
|
|
182 |
//EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
|
|
183 |
//EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
|
|
184 |
|
|
185 |
// Prozessdaten schreiben
|
|
186 |
rdtscl(k);
|
|
187 |
EtherCAT_write_process_data(ecat_master);
|
|
188 |
firstrun = 0;
|
|
189 |
}
|
|
190 |
#endif
|
|
191 |
|
|
192 |
/******************************************************************************
|
|
193 |
*
|
|
194 |
* Function: init
|
|
195 |
*
|
|
196 |
******************************************************************************/
|
|
197 |
|
|
198 |
//#define ECAT_OPEN
|
|
199 |
|
|
200 |
int init()
|
|
201 |
{
|
|
202 |
#ifdef ECAT_OPEN
|
|
203 |
int rv = -1;
|
|
204 |
#endif
|
|
205 |
|
|
206 |
EC_DBG(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
|
|
207 |
|
|
208 |
EtherCAT_device_debug(&rtl_ecat_dev);
|
|
209 |
//mdelay(5000);
|
|
210 |
|
|
211 |
#ifdef ECAT_OPEN
|
|
212 |
EC_DBG("Opening EtherCAT device.\n");
|
|
213 |
|
|
214 |
// HIER PASSIERT DER FEHLER:
|
|
215 |
if (EtherCAT_device_open(&rtl_ecat_dev) < 0)
|
|
216 |
{
|
|
217 |
EC_DBG(KERN_ERR "msr_modul: Could not initialize EtherCAT NIC.\n");
|
|
218 |
goto out_nothing;
|
|
219 |
}
|
|
220 |
|
|
221 |
if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
|
|
222 |
{
|
|
223 |
EC_DBG(KERN_ERR "msr_modul: No EtherCAT device!\n");
|
|
224 |
goto out_close;
|
|
225 |
}
|
|
226 |
#endif
|
|
227 |
|
|
228 |
#if 0
|
|
229 |
// EtherCAT-Master und Slaves initialisieren
|
|
230 |
EC_DBG("Initialising EtherCAT master\n");
|
|
231 |
|
|
232 |
if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
|
|
233 |
{
|
|
234 |
EC_DBG(KERN_ERR "msr_modul: Could not alloc memory for EtherCAT master!\n");
|
|
235 |
goto out_close;
|
|
236 |
}
|
|
237 |
|
|
238 |
if (EtherCAT_master_init(ecat_master, &rtl_ecat_dev) < 0)
|
|
239 |
{
|
|
240 |
EC_DBG(KERN_ERR "EtherCAT could not init master!\n");
|
|
241 |
goto out_master;
|
|
242 |
}
|
|
243 |
#endif
|
|
244 |
|
|
245 |
#if 0
|
|
246 |
EC_DBG("Checking EtherCAT slaves.\n");
|
|
247 |
|
|
248 |
if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
|
|
249 |
{
|
|
250 |
EC_DBG(KERN_ERR "EtherCAT: Could not init slaves!\n");
|
|
251 |
goto out_masterclear;
|
|
252 |
}
|
|
253 |
|
|
254 |
EC_DBG("Activating all EtherCAT slaves.\n");
|
|
255 |
|
|
256 |
if (EtherCAT_activate_all_slaves(ecat_master) != 0)
|
|
257 |
{
|
|
258 |
EC_DBG(KERN_ERR "EtherCAT: Could not activate slaves!\n");
|
|
259 |
goto out_masterclear;
|
|
260 |
}
|
|
261 |
|
|
262 |
// Zyklischen Aufruf starten
|
|
263 |
|
|
264 |
EC_DBG("Starting cyclic sample thread.\n");
|
|
265 |
|
|
266 |
EtherCAT_write_process_data(ecat_master);
|
|
267 |
|
|
268 |
EC_DBG("Initialised sample thread.\n");
|
|
269 |
#endif
|
|
270 |
|
|
271 |
EC_DBG(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
|
|
272 |
|
|
273 |
return 0;
|
|
274 |
|
|
275 |
#if 0
|
|
276 |
out_masterclear:
|
|
277 |
EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
|
|
278 |
EtherCAT_master_clear(ecat_master);
|
|
279 |
#endif
|
|
280 |
|
|
281 |
#if 0
|
|
282 |
out_master:
|
|
283 |
EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
|
|
284 |
kfree(ecat_master);
|
|
285 |
#endif
|
|
286 |
|
|
287 |
#ifdef ECAT_OPEN
|
|
288 |
out_close:
|
|
289 |
EC_DBG(KERN_INFO "Closing device.\n");
|
|
290 |
EtherCAT_device_close(&rtl_ecat_dev);
|
|
291 |
|
|
292 |
out_nothing:
|
|
293 |
return rv;
|
|
294 |
#endif
|
|
295 |
}
|
|
296 |
|
|
297 |
/******************************************************************************
|
|
298 |
*
|
|
299 |
* Function: cleanup
|
|
300 |
*
|
|
301 |
******************************************************************************/
|
|
302 |
|
|
303 |
void cleanup()
|
|
304 |
{
|
|
305 |
EC_DBG(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
|
|
306 |
|
|
307 |
// Noch einmal lesen
|
|
308 |
//EC_DBG(KERN_INFO "Reading process data.\n");
|
|
309 |
//EtherCAT_read_process_data(ecat_master);
|
|
310 |
|
|
311 |
#if 0
|
|
312 |
if (ecat_master)
|
|
313 |
{
|
|
314 |
#if 0
|
|
315 |
EC_DBG(KERN_INFO "Deactivating slaves.\n");
|
|
316 |
EtherCAT_deactivate_all_slaves(ecat_master);
|
|
317 |
#endif
|
|
318 |
|
|
319 |
EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
|
|
320 |
EtherCAT_master_clear(ecat_master);
|
|
321 |
|
|
322 |
EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
|
|
323 |
kfree(ecat_master);
|
|
324 |
ecat_master = NULL;
|
|
325 |
}
|
|
326 |
#endif
|
|
327 |
|
|
328 |
#ifdef ECAT_OPEN
|
|
329 |
EC_DBG(KERN_INFO "Closing device.\n");
|
|
330 |
EtherCAT_device_close(&rtl_ecat_dev);
|
|
331 |
#endif
|
|
332 |
|
|
333 |
EC_DBG(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
|
|
334 |
}
|
|
335 |
|
|
336 |
/*****************************************************************************/
|
|
337 |
|
|
338 |
MODULE_LICENSE("GPL");
|
|
339 |
MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
|
|
340 |
MODULE_DESCRIPTION ("Minimal EtherCAT environment");
|
|
341 |
|
|
342 |
module_init(init);
|
|
343 |
module_exit(cleanup);
|
|
344 |
|
|
345 |
/*****************************************************************************/
|