etherlabmaster: examples/mini/mini.c@b6c87ae254c9 (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	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
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	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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	* This file is part of the IgH EtherCAT Master.
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	* The IgH EtherCAT Master is free software; you can redistribute it
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* 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: 226 diff changeset	11	* 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: 226 diff changeset	12	* License, or (at your option) any later version.
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* 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	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* 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	20	* 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	21	* 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	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	23	* 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: 226 diff changeset	24	* 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: 226 diff changeset	25	* 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: 226 diff changeset	26	* 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: 226 diff changeset	27	* 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: 226 diff changeset	28	* 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: 226 diff changeset	29	* 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: 226 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	31	*
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	#include <linux/module.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	#include <linux/timer.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	#include <linux/spinlock.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include <linux/interrupt.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
223 daa5e5656b35 Applied new path information to example modules. Florian Pose <fp@igh-essen.com> parents: 220 diff changeset	39	#include "../../include/ecrt.h" // EtherCAT realtime interface
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 280 diff changeset	40	#include "../../include/ecdb.h" // EtherCAT slave database
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	41
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	42	#define PFX "ec_mini: "
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	43
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#define FREQUENCY 100
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	45
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	46	#define CONFIGURE_MAPPING
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	47	#define EXTERNAL_MEMORY
457 2b4ba84b6058 Minor changes to minimal example. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	48
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	50
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	51	static struct timer_list timer;
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	52
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	// EtherCAT
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	54	static ec_master_t *master = NULL;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	55	static ec_master_state_t master_state = {};
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	56	spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	57
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	58	static ec_domain_t *domain1 = NULL;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	59	static ec_domain_state_t domain1_state = {};
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	60
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	61	#ifdef CONFIGURE_MAPPING
793 3b297ff8284f Fixed Pdo configuration information providing. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	62	const ec_pdo_entry_info_t el3162_channel1[] = {
3b297ff8284f Fixed Pdo configuration information providing. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	63	{0x3101, 1, 8}, // status
3b297ff8284f Fixed Pdo configuration information providing. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	64	{0x3101, 2, 16} // value
3b297ff8284f Fixed Pdo configuration information providing. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	65	};
3b297ff8284f Fixed Pdo configuration information providing. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	66
3b297ff8284f Fixed Pdo configuration information providing. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	67	const ec_pdo_entry_info_t el3162_channel2[] = {
3b297ff8284f Fixed Pdo configuration information providing. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	68	{0x3102, 1, 8}, // status
3b297ff8284f Fixed Pdo configuration information providing. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	69	{0x3102, 2, 16} // value
3b297ff8284f Fixed Pdo configuration information providing. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	70	};
3b297ff8284f Fixed Pdo configuration information providing. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	71
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	72	const ec_pdo_info_t el3162_mapping[] = {
793 3b297ff8284f Fixed Pdo configuration information providing. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	73	{EC_DIR_INPUT, 0x1A00, 2, el3162_channel1},
3b297ff8284f Fixed Pdo configuration information providing. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	74	{EC_DIR_INPUT, 0x1A01, 2, el3162_channel2},
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	75	};
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	76
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	77	const ec_pdo_entry_info_t el2004_channels[] = {
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	78	{0x3001, 1, 1}, // Value 1
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	79	{0x3001, 2, 1}, // Value 2
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	80	{0x3001, 3, 1}, // Value 3
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	81	{0x3001, 4, 1} // Value 4
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	82	};
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	83
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	84	const ec_pdo_info_t el2004_mapping[] = {
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	85	{EC_DIR_OUTPUT, 0x1600, 1, &el2004_channels[0]},
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	86	{EC_DIR_OUTPUT, 0x1601, 1, &el2004_channels[1]},
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	87	{EC_DIR_OUTPUT, 0x1602, 1, &el2004_channels[2]},
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	88	{EC_DIR_OUTPUT, 0x1603, 1, &el2004_channels[3]},
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	89	};
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	90	#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	91
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	92	static uint8_t pd; /< Process data. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	93	static unsigned int off_ana_in;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	94	static unsigned int off_dig_out;
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	95
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	96	const static ec_pdo_entry_reg_t domain1_regs[] = {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	97	{0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	98	{0, 3, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	{}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	};
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	101
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	102	/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	103
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	104	void check_domain1_state(void)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	105	{
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	106	ec_domain_state_t ds;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	107
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	108	ecrt_domain_state(domain1, &ds);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	109	if (ds.working_counter != domain1_state.working_counter)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	110	printk(KERN_INFO PFX "domain1 working_counter changed to %u.\n",
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	111	ds.working_counter);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	112
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	113	if (ds.wc_state != domain1_state.wc_state)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	114	printk(KERN_INFO PFX "domain1 wc_state changed to %u.\n",
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	115	ds.wc_state);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	116
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	117	domain1_state = ds;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	118	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	119
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	120	/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	121
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	122	void check_master_state(void)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	123	{
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	124	ec_master_state_t ms;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	125
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	126	spin_lock(&master_lock);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	127	ecrt_master_state(master, &ms);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	128	spin_unlock(&master_lock);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	129
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	130	if (ms.bus_state != master_state.bus_state) {
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	131	printk(KERN_INFO PFX "bus state changed to %i.\n", ms.bus_state);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	132	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	133	if (ms.bus_tainted != master_state.bus_tainted) {
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	134	printk(KERN_INFO PFX "tainted flag changed to %u.\n",
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	135	ms.bus_tainted);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	136	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	137	if (ms.slaves_responding != master_state.slaves_responding) {
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	138	printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	139	ms.slaves_responding);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	140	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	141
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	142	master_state = ms;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	143	}
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	144
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	146
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	void run(unsigned long data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	{
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	static unsigned int counter = 0;
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	150	static unsigned int blink = 0;
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	151
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	152	// receive process data
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	spin_lock(&master_lock);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 280 diff changeset	154	ecrt_master_receive(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	ecrt_domain_process(domain1);
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	156	spin_unlock(&master_lock);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	157
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	158	// check process data state (optional)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	159	check_domain1_state();
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	160
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	161	if (counter) {
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	162	counter--;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	163	} else { // do this at FREQUENCY
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	164	counter = FREQUENCY;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	165
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	166	// calculate new process data
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	167	blink = !blink;
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	168
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	169	// check for master state (optional)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	170	check_master_state();
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	171	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	172
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	173	// write process data
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	174	EC_WRITE_U8(pd + off_dig_out, blink ? 0x0F : 0x00);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	175
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	176	// send process data
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	177	spin_lock(&master_lock);
509 87baea61d0c7 Adjusted examples to 1.2.0 interface changes. Florian Pose <fp@igh-essen.com> parents: 472 diff changeset	178	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	179	ecrt_master_send(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	spin_unlock(&master_lock);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	181
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	// restart timer
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	timer.expires += HZ / FREQUENCY;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	add_timer(&timer);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	186
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	188
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	int request_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	{
516 f703e33ee395 Adjusted examples to EtherLab starter kit hardware. Florian Pose <fp@igh-essen.com> parents: 513 diff changeset	191	spin_lock(&master_lock);
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	192	return 0; // access allowed
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	194
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	196
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	void release_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	{
516 f703e33ee395 Adjusted examples to EtherLab starter kit hardware. Florian Pose <fp@igh-essen.com> parents: 513 diff changeset	199	spin_unlock(&master_lock);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	201
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	203
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	int __init init_mini_module(void)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	{
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	206	#ifdef CONFIGURE_MAPPING
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	207	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	208	#endif
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	209	#ifdef EXTERNAL_MEMORY
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	210	unsigned int size;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	211	#endif
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	212
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	213	printk(KERN_INFO PFX "Starting...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	214
509 87baea61d0c7 Adjusted examples to 1.2.0 interface changes. Florian Pose <fp@igh-essen.com> parents: 472 diff changeset	215	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	216	printk(KERN_ERR PFX "Requesting master 0 failed!\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	goto out_return;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	219
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	ecrt_master_callbacks(master, request_lock, release_lock, NULL);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	221
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	222	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	223	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	224	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	225	goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	226	}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	227
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	228	#ifdef CONFIGURE_MAPPING
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	229	printk(KERN_INFO PFX "Configuring Pdo mapping...\n");
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	230	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	231	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	232	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	233	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	234
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	235	if (ecrt_slave_config_mapping(sc, 2, el3162_mapping)) {
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	236	printk(KERN_ERR PFX "Failed to configure Pdo mapping.\n");
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	237	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	238	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	239
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	240	if (!(sc = ecrt_master_slave_config(master, 0, 3, Beckhoff_EL2004))) {
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	241	printk(KERN_ERR PFX "Failed to get slave configuration.\n");
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	242	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	243	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	244
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	245	if (ecrt_slave_config_mapping(sc, 4, el2004_mapping)) {
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	246	printk(KERN_ERR PFX "Failed to configure Pdo mapping.\n");
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	247	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	248	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	249	#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	250
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	251	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	252	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	253	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	254	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	255	}
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	256
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	257	#ifdef EXTERNAL_MEMORY
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	258	if ((size = ecrt_domain_size(domain1))) {
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	259	if (!(pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	260	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	261	" memory!\n", size);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	262	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	263	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	264	ecrt_domain_external_memory(domain1, pd);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	265	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	266	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	267
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	268	printk(KERN_INFO PFX "Activating master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	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	270	printk(KERN_ERR PFX "Failed to activate master!\n");
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	271	#ifdef EXTERNAL_MEMORY
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	272	goto out_free_process_data;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	273	#else
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	274	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	275	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	276	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	277
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	278	#ifndef EXTERNAL_MEMORY
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	279	// Get internal process data for domain
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	280	pd = ecrt_domain_data(domain1);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	281	#endif
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	282
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	283	printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	init_timer(&timer);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	timer.function = run;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	timer.expires = jiffies + 10;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	add_timer(&timer);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	288
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	289	printk(KERN_INFO PFX "Started.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	return 0;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	291
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	292	#ifdef EXTERNAL_MEMORY
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	293	out_free_process_data:
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	294	kfree(pd);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	295	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	296	out_release_master:
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	297	printk(KERN_ERR PFX "Releasing master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	ecrt_release_master(master);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	299	out_return:
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	300	printk(KERN_ERR PFX "Failed to load. Aborting.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	return -1;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	303
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	305
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	void __exit cleanup_mini_module(void)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	307	{
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	308	printk(KERN_INFO PFX "Stopping...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	309
449 3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	310	del_timer_sync(&timer);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	311
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	312	#ifdef EXTERNAL_MEMORY
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	313	kfree(pd);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	314	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	315
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	316	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	317	ecrt_release_master(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	318
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	319	printk(KERN_INFO PFX "Unloading.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	321
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	/*****************************************************************************/
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	MODULE_LICENSE("GPL");
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	325	MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	326	MODULE_DESCRIPTION("EtherCAT minimal test environment");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	327
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	module_init(init_mini_module);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	329	module_exit(cleanup_mini_module);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	330
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	331	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 22 Feb 2008 17:23:05 +0000
changeset 818	b6c87ae254c9
parent 814	a51f857b1b2d
child 820	f8e6f5966cce
permissions	-rw-r--r--