author | Florian Pose <fp@igh-essen.com> |
Mon, 26 Jan 2009 16:38:39 +0000 | |
changeset 1345 | b715e719eeea |
parent 1327 | 4d179b06dd3c |
child 1363 | 11c0b2caa253 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* RTAI sample for the IgH EtherCAT master. |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2008 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 and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* 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 along |
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* 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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* Using the EtherCAT technology and brand is permitted in compliance with |
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* the industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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// Linux |
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#include <linux/module.h> |
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#include <linux/err.h> |
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// RTAI |
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#include <rtai_sched.h> |
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#include <rtai_sem.h> |
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// EtherCAT |
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#include "../../include/ecrt.h" |
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/*****************************************************************************/ |
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// Module parameters |
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#define FREQUENCY 2000 // task frequency in Hz |
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#define INHIBIT_TIME 20 |
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#define TIMERTICKS (1000000000 / FREQUENCY) |
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// Optional features (comment to disable) |
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#define CONFIGURE_PDOS |
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#define PFX "ec_rtai_sample: " |
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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 ec_slave_config_t *sc_ana_in = NULL; |
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static ec_slave_config_state_t sc_ana_in_state = {}; |
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// RTAI |
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static RT_TASK task; |
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static SEM master_sem; |
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static cycles_t t_last_cycle = 0, t_critical; |
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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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#define AnaInSlavePos 0, 1 |
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#define DigOutSlavePos 0, 3 |
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#define Beckhoff_EL2004 0x00000002, 0x07D43052 |
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#define Beckhoff_EL3162 0x00000002, 0x0C5A3052 |
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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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const static ec_pdo_entry_reg_t domain1_regs[] = { |
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{AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in}, |
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{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, |
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{} |
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}; |
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static unsigned int counter = 0; |
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static unsigned int blink = 0; |
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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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{0x1A00, 2, el3162_channel1}, |
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{0x1A01, 2, el3162_channel2} |
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}; |
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static ec_sync_info_t el3162_syncs[] = { |
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{2, EC_DIR_OUTPUT}, |
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{3, EC_DIR_INPUT, 2, el3162_pdos}, |
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{0xff} |
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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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124 |
}; |
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|
125 |
|
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126 |
static ec_pdo_info_t el2004_pdos[] = { |
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{0x1600, 1, &el2004_channels[0]}, |
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{0x1601, 1, &el2004_channels[1]}, |
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{0x1602, 1, &el2004_channels[2]}, |
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{0x1603, 1, &el2004_channels[3]} |
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131 |
}; |
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132 |
|
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static ec_sync_info_t el2004_syncs[] = { |
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{0, EC_DIR_OUTPUT, 4, el2004_pdos}, |
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135 |
{1, EC_DIR_INPUT}, |
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136 |
{0xff} |
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137 |
}; |
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138 |
#endif |
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|
139 |
|
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140 |
/*****************************************************************************/ |
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|
141 |
|
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142 |
void check_domain1_state(void) |
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143 |
{ |
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ec_domain_state_t ds; |
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|
145 |
|
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spin_lock(&master_lock); |
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ecrt_domain_state(domain1, &ds); |
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spin_unlock(&master_lock); |
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149 |
|
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if (ds.working_counter != domain1_state.working_counter) |
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printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter); |
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if (ds.wc_state != domain1_state.wc_state) |
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printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state); |
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|
154 |
|
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domain1_state = ds; |
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156 |
} |
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|
157 |
|
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158 |
/*****************************************************************************/ |
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|
159 |
|
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160 |
void check_master_state(void) |
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161 |
{ |
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162 |
ec_master_state_t ms; |
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|
163 |
|
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164 |
spin_lock(&master_lock); |
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165 |
ecrt_master_state(master, &ms); |
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166 |
spin_unlock(&master_lock); |
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|
167 |
|
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168 |
if (ms.slaves_responding != master_state.slaves_responding) |
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printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding); |
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if (ms.al_states != master_state.al_states) |
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printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states); |
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if (ms.link_up != master_state.link_up) |
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printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down"); |
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|
174 |
|
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master_state = ms; |
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176 |
} |
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177 |
|
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178 |
/*****************************************************************************/ |
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|
179 |
|
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void check_slave_config_states(void) |
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181 |
{ |
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ec_slave_config_state_t s; |
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183 |
|
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184 |
spin_lock(&master_lock); |
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185 |
ecrt_slave_config_state(sc_ana_in, &s); |
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186 |
spin_unlock(&master_lock); |
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|
187 |
|
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188 |
if (s.al_state != sc_ana_in_state.al_state) |
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189 |
printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state); |
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190 |
if (s.online != sc_ana_in_state.online) |
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|
191 |
printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline"); |
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192 |
if (s.operational != sc_ana_in_state.operational) |
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193 |
printk(KERN_INFO PFX "AnaIn: %soperational.\n", |
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194 |
s.operational ? "" : "Not "); |
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|
195 |
|
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sc_ana_in_state = s; |
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197 |
} |
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|
198 |
|
220 | 199 |
/*****************************************************************************/ |
200 |
||
225
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|
201 |
void run(long data) |
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202 |
{ |
512
24292123d174
Shorter critical sections in examples.
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|
203 |
while (1) { |
342
cbcff2f19e99
RTAI example with INHIBIT time.
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|
204 |
t_last_cycle = get_cycles(); |
512
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205 |
|
1080
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206 |
// receive process data |
225
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207 |
rt_sem_wait(&master_sem); |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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208 |
ecrt_master_receive(master); |
225
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209 |
ecrt_domain_process(domain1); |
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210 |
rt_sem_signal(&master_sem); |
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|
211 |
|
1080
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212 |
// check process data state (optional) |
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213 |
check_domain1_state(); |
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214 |
|
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|
215 |
if (counter) { |
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216 |
counter--; |
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|
217 |
} else { // do this at 1 Hz |
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218 |
counter = FREQUENCY; |
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219 |
|
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|
220 |
// calculate new process data |
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|
221 |
blink = !blink; |
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222 |
|
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223 |
// check for master state (optional) |
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224 |
check_master_state(); |
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225 |
|
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226 |
// check for islave configuration state(s) (optional) |
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check_slave_config_states(); |
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228 |
} |
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|
229 |
|
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230 |
// write process data |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
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parents:
814
diff
changeset
|
231 |
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
232 |
|
512
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
233 |
rt_sem_wait(&master_sem); |
509
87baea61d0c7
Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents:
449
diff
changeset
|
234 |
ecrt_domain_queue(domain1); |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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parents:
259
diff
changeset
|
235 |
ecrt_master_send(master); |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
236 |
rt_sem_signal(&master_sem); |
516
f703e33ee395
Adjusted examples to EtherLab starter kit hardware.
Florian Pose <fp@igh-essen.com>
parents:
512
diff
changeset
|
237 |
|
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
238 |
rt_task_wait_period(); |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
239 |
} |
220 | 240 |
} |
241 |
||
242 |
/*****************************************************************************/ |
|
243 |
||
244 |
int request_lock(void *data) |
|
245 |
{ |
|
512
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
246 |
// too close to the next real time cycle: deny access... |
342
cbcff2f19e99
RTAI example with INHIBIT time.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
247 |
if (get_cycles() - t_last_cycle > t_critical) return -1; |
230
382bdb9138ec
RTAI sample with optimized jitter.
Florian Pose <fp@igh-essen.com>
parents:
227
diff
changeset
|
248 |
|
382bdb9138ec
RTAI sample with optimized jitter.
Florian Pose <fp@igh-essen.com>
parents:
227
diff
changeset
|
249 |
// allow access |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
250 |
rt_sem_wait(&master_sem); |
230
382bdb9138ec
RTAI sample with optimized jitter.
Florian Pose <fp@igh-essen.com>
parents:
227
diff
changeset
|
251 |
return 0; |
220 | 252 |
} |
253 |
||
254 |
/*****************************************************************************/ |
|
255 |
||
256 |
void release_lock(void *data) |
|
257 |
{ |
|
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
258 |
rt_sem_signal(&master_sem); |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
259 |
} |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
260 |
|
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
261 |
/*****************************************************************************/ |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
262 |
|
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
263 |
int __init init_mod(void) |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
264 |
{ |
1239
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1082
diff
changeset
|
265 |
int ret = -1; |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
266 |
RTIME tick_period, requested_ticks, now; |
1080
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
267 |
#ifdef CONFIGURE_PDOS |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
268 |
ec_slave_config_t *sc; |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
269 |
#endif |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
270 |
|
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
271 |
printk(KERN_INFO PFX "Starting...\n"); |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
272 |
|
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
273 |
rt_sem_init(&master_sem, 1); |
220 | 274 |
|
342
cbcff2f19e99
RTAI example with INHIBIT time.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
275 |
t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000; |
cbcff2f19e99
RTAI example with INHIBIT time.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
276 |
|
1239
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1082
diff
changeset
|
277 |
|
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1082
diff
changeset
|
278 |
master = ecrt_request_master(0); |
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1082
diff
changeset
|
279 |
if (IS_ERR(master)) { |
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1082
diff
changeset
|
280 |
ret = PTR_ERR(master); |
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
281 |
printk(KERN_ERR PFX "Requesting master 0 failed!\n"); |
220 | 282 |
goto out_return; |
283 |
} |
|
284 |
||
285 |
ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
|
286 |
||
1080
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
287 |
printk(KERN_INFO PFX "Registering domain...\n"); |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
259
diff
changeset
|
288 |
if (!(domain1 = ecrt_master_create_domain(master))) { |
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
289 |
printk(KERN_ERR PFX "Domain creation failed!\n"); |
220 | 290 |
goto out_release_master; |
291 |
} |
|
292 |
||
1080
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
293 |
if (!(sc_ana_in = ecrt_master_slave_config( |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
294 |
master, AnaInSlavePos, Beckhoff_EL3162))) { |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
295 |
printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
296 |
goto out_release_master; |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
297 |
} |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
298 |
|
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
299 |
#ifdef CONFIGURE_PDOS |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
300 |
printk(KERN_INFO PFX "Configuring PDOs...\n"); |
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1080
diff
changeset
|
301 |
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
302 |
printk(KERN_ERR PFX "Failed to configure PDOs.\n"); |
1080
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
303 |
goto out_release_master; |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
304 |
} |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
305 |
|
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
306 |
if (!(sc = ecrt_master_slave_config(master, DigOutSlavePos, Beckhoff_EL2004))) { |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
307 |
printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
308 |
goto out_release_master; |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
309 |
} |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
310 |
|
1082
ff06c58e269c
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents:
1080
diff
changeset
|
311 |
if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
312 |
printk(KERN_ERR PFX "Failed to configure PDOs.\n"); |
1080
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
313 |
goto out_release_master; |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
314 |
} |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
315 |
#endif |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
316 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
317 |
printk(KERN_INFO PFX "Registering PDO entries...\n"); |
1080
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
318 |
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
319 |
printk(KERN_ERR PFX "PDO entry registration failed!\n"); |
220 | 320 |
goto out_release_master; |
321 |
} |
|
322 |
||
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
323 |
printk(KERN_INFO PFX "Activating master...\n"); |
220 | 324 |
if (ecrt_master_activate(master)) { |
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
325 |
printk(KERN_ERR PFX "Failed to activate master!\n"); |
220 | 326 |
goto out_release_master; |
327 |
} |
|
328 |
||
1080
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
329 |
// Get internal process data for domain |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
330 |
domain1_pd = ecrt_domain_data(domain1); |
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
331 |
|
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
332 |
printk(KERN_INFO PFX "Starting cyclic sample thread...\n"); |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
333 |
requested_ticks = nano2count(TIMERTICKS); |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
334 |
tick_period = start_rt_timer(requested_ticks); |
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
335 |
printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n", |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
336 |
(int) tick_period, (int) requested_ticks); |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
337 |
|
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
338 |
if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) { |
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
339 |
printk(KERN_ERR PFX "Failed to init RTAI task!\n"); |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
340 |
goto out_stop_timer; |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
341 |
} |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
342 |
|
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
343 |
now = rt_get_time(); |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
344 |
if (rt_task_make_periodic(&task, now + tick_period, tick_period)) { |
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
345 |
printk(KERN_ERR PFX "Failed to run RTAI task!\n"); |
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
346 |
goto out_stop_task; |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
347 |
} |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
348 |
|
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
349 |
printk(KERN_INFO PFX "Initialized.\n"); |
220 | 350 |
return 0; |
351 |
||
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
352 |
out_stop_task: |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
353 |
rt_task_delete(&task); |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
354 |
out_stop_timer: |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
355 |
stop_rt_timer(); |
220 | 356 |
out_release_master: |
655
3702f0d6693b
Merged changes of examples/mini/mini.c -r858:859 to
Florian Pose <fp@igh-essen.com>
parents:
643
diff
changeset
|
357 |
printk(KERN_ERR PFX "Releasing master...\n"); |
220 | 358 |
ecrt_release_master(master); |
359 |
out_return: |
|
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
360 |
rt_sem_delete(&master_sem); |
655
3702f0d6693b
Merged changes of examples/mini/mini.c -r858:859 to
Florian Pose <fp@igh-essen.com>
parents:
643
diff
changeset
|
361 |
printk(KERN_ERR PFX "Failed to load. Aborting.\n"); |
1239
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1082
diff
changeset
|
362 |
return ret; |
220 | 363 |
} |
364 |
||
365 |
/*****************************************************************************/ |
|
366 |
||
225
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
367 |
void __exit cleanup_mod(void) |
9e8150db6fc8
Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents:
223
diff
changeset
|
368 |
{ |
655
3702f0d6693b
Merged changes of examples/mini/mini.c -r858:859 to
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printk(KERN_INFO PFX "Stopping...\n"); |
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rt_task_delete(&task); |
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stop_rt_timer(); |
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ecrt_release_master(master); |
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rt_sem_delete(&master_sem); |
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375 |
|
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Merged changes of examples/mini/mini.c -r858:859 to
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parents:
643
diff
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printk(KERN_INFO PFX "Unloading.\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 RTAI sample module"); |
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384 |
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module_init(init_mod); |
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module_exit(cleanup_mod); |
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/*****************************************************************************/ |