etherlabmaster: mini/mini.c@b7797f8a813d (annotated)

0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	3	* m i n i . c
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	4	*
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	5	* Minimal module for EtherCAT.
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	6	*
a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	7	* $Id$
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	11	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	12	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	* The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* and/or modify it under the terms of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* as published by the Free Software Foundation; version 2 of the License.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	* The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	22	* You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	23	* along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	24	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	25	*
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 36 diff changeset	26	*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	27
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	28	#include <linux/module.h>
24 d417dd9bdc2f Wilhelms ?nderungen ?bernommen. Florian Pose <fp@igh-essen.com> parents: 23 diff changeset	29	#include <linux/delay.h>
22 e8c2cd004e0b Portierung der Module in drivers/ und mini/ nach Kernel 2.6. Florian Pose <fp@igh-essen.com> parents: 13 diff changeset	30	#include <linux/timer.h>
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	31	#include <linux/spinlock.h>
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	32	#include <linux/interrupt.h>
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	33
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	34	#include "../include/ecrt.h" // EtherCAT realtime interface
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	35
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	36	#define ASYNC
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	37	#define FREQUENCY 100
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	38
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	39	/*****************************************************************************/
22 e8c2cd004e0b Portierung der Module in drivers/ und mini/ nach Kernel 2.6. Florian Pose <fp@igh-essen.com> parents: 13 diff changeset	40
e8c2cd004e0b Portierung der Module in drivers/ und mini/ nach Kernel 2.6. Florian Pose <fp@igh-essen.com> parents: 13 diff changeset	41	struct timer_list timer;
e8c2cd004e0b Portierung der Module in drivers/ und mini/ nach Kernel 2.6. Florian Pose <fp@igh-essen.com> parents: 13 diff changeset	42
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	43	// EtherCAT
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	44	ec_master_t *master = NULL;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	45	ec_domain_t *domain1 = NULL;
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	46	spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	47
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	48	// data fields
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 117 diff changeset	49	//void r_ssi_input, r_ssi_status, *r_4102[3];
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	50
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	51	// channels
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	52	uint32_t k_pos;
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 109 diff changeset	53	uint8_t k_stat;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	54
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	55	ec_field_init_t domain1_fields[] = {
202 d5141123a5af new topology in mini.c Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	56	{NULL, "3", "Beckhoff", "EL5001", "InputValue", 0},
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	57	{NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	58	{}
61 cd014255f94f register_slave_list() und Bugfix in deactivate_slaves() Florian Pose <fp@igh-essen.com> parents: 60 diff changeset	59	};
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	60
60 2d2b120ba734 Neue Schnittstellen in Mini ?bertragen. Florian Pose <fp@igh-essen.com> parents: 57 diff changeset	61	/*****************************************************************************/
2d2b120ba734 Neue Schnittstellen in Mini ?bertragen. Florian Pose <fp@igh-essen.com> parents: 57 diff changeset	62
2d2b120ba734 Neue Schnittstellen in Mini ?bertragen. Florian Pose <fp@igh-essen.com> parents: 57 diff changeset	63	void run(unsigned long data)
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	64	{
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	65	static unsigned int counter = 0;
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 65 diff changeset	66
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	67	spin_lock(&master_lock);
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	68
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	69	#ifdef ASYNC
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	70	// receive
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	71	ecrt_master_async_receive(master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	72	ecrt_domain_process(domain1);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	73	#else
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	74	// send and receive
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	75	ecrt_domain_queue(domain1);
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	76	ecrt_master_run(master);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	77	ecrt_master_sync_io(master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	78	ecrt_domain_process(domain1);
156 43d7d714679f Plugfest: rt und mini angepasst. Florian Pose <fp@igh-essen.com> parents: 147 diff changeset	79	#endif
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	80
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	81	// process data
156 43d7d714679f Plugfest: rt und mini angepasst. Florian Pose <fp@igh-essen.com> parents: 147 diff changeset	82	//k_pos = EC_READ_U32(r_ssi);
43d7d714679f Plugfest: rt und mini angepasst. Florian Pose <fp@igh-essen.com> parents: 147 diff changeset	83
43d7d714679f Plugfest: rt und mini angepasst. Florian Pose <fp@igh-essen.com> parents: 147 diff changeset	84	#ifdef ASYNC
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	85	// send
156 43d7d714679f Plugfest: rt und mini angepasst. Florian Pose <fp@igh-essen.com> parents: 147 diff changeset	86	ecrt_domain_queue(domain1);
43d7d714679f Plugfest: rt und mini angepasst. Florian Pose <fp@igh-essen.com> parents: 147 diff changeset	87	ecrt_master_run(master);
43d7d714679f Plugfest: rt und mini angepasst. Florian Pose <fp@igh-essen.com> parents: 147 diff changeset	88	ecrt_master_async_send(master);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	89	#endif
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	90
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	91	spin_unlock(&master_lock);
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	92
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 65 diff changeset	93	if (counter) {
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 65 diff changeset	94	counter--;
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 65 diff changeset	95	}
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 65 diff changeset	96	else {
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	97	counter = FREQUENCY;
117 b9976a5281e0 Neue Mini-Konfiguration. Florian Pose <fp@igh-essen.com> parents: 116 diff changeset	98	//printk(KERN_INFO "k_pos = %i\n", k_pos);
b9976a5281e0 Neue Mini-Konfiguration. Florian Pose <fp@igh-essen.com> parents: 116 diff changeset	99	//printk(KERN_INFO "k_stat = 0x%02X\n", k_stat);
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 65 diff changeset	100	}
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 65 diff changeset	101
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	102	// restart timer
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	103	timer.expires += HZ / FREQUENCY;
22 e8c2cd004e0b Portierung der Module in drivers/ und mini/ nach Kernel 2.6. Florian Pose <fp@igh-essen.com> parents: 13 diff changeset	104	add_timer(&timer);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	105	}
22 e8c2cd004e0b Portierung der Module in drivers/ und mini/ nach Kernel 2.6. Florian Pose <fp@igh-essen.com> parents: 13 diff changeset	106
60 2d2b120ba734 Neue Schnittstellen in Mini ?bertragen. Florian Pose <fp@igh-essen.com> parents: 57 diff changeset	107	/*****************************************************************************/
22 e8c2cd004e0b Portierung der Module in drivers/ und mini/ nach Kernel 2.6. Florian Pose <fp@igh-essen.com> parents: 13 diff changeset	108
206 60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	109	int request_lock(void *data)
60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	110	{
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	111	unsigned int tries = 0;
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	112	while (1) {
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	113	if (spin_trylock(&master_lock)) {
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	114	if (tries) printk(KERN_INFO "lock: %i tries needed.\n", tries);
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	115	return 1;
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	116	}
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	117	tries++;
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	118	}
206 60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	119	}
60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	120
60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	121	/*****************************************************************************/
60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	122
60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	123	void release_lock(void *data)
60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	124	{
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	125	spin_unlock(&master_lock);
206 60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	126	}
60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	127
60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	128	/*****************************************************************************/
60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	129
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	130	int __init init_mini_module(void)
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	131	{
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	132	printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	133
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	134	if ((master = ecrt_request_master(0)) == NULL) {
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	135	printk(KERN_ERR "Requesting master 0 failed!\n");
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	136	goto out_return;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	137	}
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	138
206 60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	139	ecrt_master_callbacks(master, request_lock, release_lock, NULL);
60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	140
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	141	printk(KERN_INFO "Registering domain...\n");
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	142	if (!(domain1 = ecrt_master_create_domain(master)))
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	143	{
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	144	printk(KERN_ERR "Domain creation failed!\n");
60 2d2b120ba734 Neue Schnittstellen in Mini ?bertragen. Florian Pose <fp@igh-essen.com> parents: 57 diff changeset	145	goto out_release_master;
2d2b120ba734 Neue Schnittstellen in Mini ?bertragen. Florian Pose <fp@igh-essen.com> parents: 57 diff changeset	146	}
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	147
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	148	printk(KERN_INFO "Registering domain fields...\n");
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	149	if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	150	printk(KERN_ERR "Field registration failed!\n");
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	151	goto out_release_master;
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	152	}
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	153
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	154	printk(KERN_INFO "Activating master...\n");
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	155	if (ecrt_master_activate(master)) {
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	156	printk(KERN_ERR "Failed to activate master!\n");
68 a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 65 diff changeset	157	goto out_release_master;
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation. Florian Pose <fp@igh-essen.com> parents: 65 diff changeset	158	}
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: 62 diff changeset	159
140 b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	160	#if 0
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	161	if (ecrt_master_fetch_sdo_lists(master)) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	162	printk(KERN_ERR "Failed to fetch SDO lists!\n");
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	163	goto out_deactivate;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	164	}
140 b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	165	ecrt_master_print(master, 2);
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	166	#else
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	167	ecrt_master_print(master, 0);
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	168	#endif
b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	169
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 117 diff changeset	170	#if 0
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	171	if (!(slave = ecrt_master_get_slave(master, "5"))) {
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	172	printk(KERN_ERR "Failed to get slave 5!\n");
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	173	goto out_deactivate;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	174	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	175
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	176	if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) \|\|
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	177	ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) \|\|
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	178	ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) \|\|
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	179	ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) \|\|
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	180	ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) \|\|
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	181	ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) \|\|
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	182	ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) \|\|
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	183	ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) \|\|
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	184	ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	185	printk(KERN_ERR "Failed to configure SSI slave!\n");
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 109 diff changeset	186	goto out_deactivate;
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 109 diff changeset	187	}
130 69c2645300ee Watch-Kommando Florian Pose <fp@igh-essen.com> parents: 117 diff changeset	188	#endif
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 109 diff changeset	189
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 112 diff changeset	190	#if 0
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 112 diff changeset	191	printk(KERN_INFO "Writing alias...\n");
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	192	if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	193	printk(KERN_ERR "Failed to write alias!\n");
114 e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 112 diff changeset	194	goto out_deactivate;
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 112 diff changeset	195	}
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 112 diff changeset	196	#endif
e4b4b5a85e75 Slave alias implementiert. Florian Pose <fp@igh-essen.com> parents: 112 diff changeset	197
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	198	#ifdef ASYNC
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	199	// send once and wait...
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	200	ecrt_master_prepare_async_io(master);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	201	#endif
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	202
208 b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	203	#if 1
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	204	if (ecrt_master_start_eoe(master)) {
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	205	printk(KERN_ERR "Failed to start EoE processing!\n");
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	206	goto out_deactivate;
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	207	}
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	208	#endif
b7797f8a813d command timeout, EoE processing with kernel timer. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	209
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	210	printk("Starting cyclic sample thread.\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	211	init_timer(&timer);
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	212	timer.function = run;
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 156 diff changeset	213	timer.expires = jiffies + 10;
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	214	add_timer(&timer);
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	215
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	216	printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	217	return 0;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	218
206 60a10d85c20b Prepared EoE processing with workqueue. Florian Pose <fp@igh-essen.com> parents: 202 diff changeset	219	#if 1
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 109 diff changeset	220	out_deactivate:
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 109 diff changeset	221	ecrt_master_deactivate(master);
147 a355b587b4bc Ausgaben verbessert, Mini-Modul angepasst. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	222	#endif
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	223	out_release_master:
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 109 diff changeset	224	ecrt_release_master(master);
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	225	out_return:
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 109 diff changeset	226	return -1;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	227	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	228
60 2d2b120ba734 Neue Schnittstellen in Mini ?bertragen. Florian Pose <fp@igh-essen.com> parents: 57 diff changeset	229	/*****************************************************************************/
22 e8c2cd004e0b Portierung der Module in drivers/ und mini/ nach Kernel 2.6. Florian Pose <fp@igh-essen.com> parents: 13 diff changeset	230
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	231	void __exit cleanup_mini_module(void)
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	232	{
26 60435f959e5c Serial-Debugger entfernt. Florian Pose <fp@igh-essen.com> parents: 24 diff changeset	233	printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	234
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 130 diff changeset	235	if (master) {
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	236	del_timer_sync(&timer);
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	237	printk(KERN_INFO "Deactivating master...\n");
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	238	ecrt_master_deactivate(master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	239	ecrt_release_master(master);
27 d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert. Florian Pose <fp@igh-essen.com> parents: 26 diff changeset	240	}
22 e8c2cd004e0b Portierung der Module in drivers/ und mini/ nach Kernel 2.6. Florian Pose <fp@igh-essen.com> parents: 13 diff changeset	241
26 60435f959e5c Serial-Debugger entfernt. Florian Pose <fp@igh-essen.com> parents: 24 diff changeset	242	printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	243	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	244
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	245	/*****************************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	246
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	247	MODULE_LICENSE("GPL");
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	248	MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 68 diff changeset	249	MODULE_DESCRIPTION ("EtherCAT minimal test environment");
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	250
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	251	module_init(init_mini_module);
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	252	module_exit(cleanup_mini_module);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	253
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	254	/*****************************************************************************/
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 36 diff changeset	255

author	Florian Pose <fp@igh-essen.com>
	Wed, 26 Apr 2006 10:15:02 +0000
changeset 208	b7797f8a813d
parent 206	60a10d85c20b
permissions	-rw-r--r--