examples/tty/tty.c
author Florian Pose <fp@gh.de>
Tue, 03 May 2016 15:14:42 +0200
changeset 2645 b7ac213beac5
parent 2589 2b9c78543663
permissions -rw-r--r--
Do not touch AL state of EoE slaves.
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/******************************************************************************
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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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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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#include <linux/version.h>
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#include <linux/module.h>
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#include <linux/timer.h>
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#include <linux/interrupt.h>
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#include <linux/err.h>
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
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#include <linux/semaphore.h>
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#else
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#include <asm/semaphore.h>
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#endif
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#include "../../include/ecrt.h" // EtherCAT realtime interface
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070b4b420ab1 TTY: Sourced serial device functions out into serial.c/serial.h.
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#include "serial.h"
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/*****************************************************************************/
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// Module parameters
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#define FREQUENCY 100
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// Optional features
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#define PFX "ec_tty_example: "
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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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struct semaphore master_sem;
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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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// Timer
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static struct timer_list timer;
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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 BusCouplerPos  0, 0
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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static unsigned int counter = 0;
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/*****************************************************************************/
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void check_domain1_state(void)
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{
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    ec_domain_state_t ds;
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    down(&master_sem);
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    ecrt_domain_state(domain1, &ds);
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    up(&master_sem);
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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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    domain1_state = ds;
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}
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/*****************************************************************************/
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void check_master_state(void)
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{
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    ec_master_state_t ms;
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    down(&master_sem);
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    ecrt_master_state(master, &ms);
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    up(&master_sem);
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    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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    master_state = ms;
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}
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/*****************************************************************************/
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void cyclic_task(unsigned long data)
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{
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    // receive process data
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    down(&master_sem);
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    ecrt_master_receive(master);
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    ecrt_domain_process(domain1);
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    up(&master_sem);
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    // check process data state (optional)
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    check_domain1_state();
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    if (counter) {
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        counter--;
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    } else { // do this at 1 Hz
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        counter = FREQUENCY;
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        // check for master state (optional)
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        check_master_state();
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    }
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   139
    run_serial_devices(domain1_pd);
818
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    // send process data
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    down(&master_sem);
509
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   143
    ecrt_domain_queue(domain1);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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   144
    ecrt_master_send(master);
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    up(&master_sem);
220
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   146
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    // restart timer
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    timer.expires += HZ / FREQUENCY;
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    add_timer(&timer);
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}
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/*****************************************************************************/
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void send_callback(void *cb_data)
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{
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   156
    ec_master_t *m = (ec_master_t *) cb_data;
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   157
    down(&master_sem);
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   158
    ecrt_master_send_ext(m);
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   159
    up(&master_sem);
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   160
}
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   161
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   162
/*****************************************************************************/
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   163
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   164
void receive_callback(void *cb_data)
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{
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
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   166
    ec_master_t *m = (ec_master_t *) cb_data;
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   167
    down(&master_sem);
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   168
    ecrt_master_receive(m);
1500
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   169
    up(&master_sem);
220
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}
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/*****************************************************************************/
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int __init init_mini_module(void)
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{
1239
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   176
    int ret = -1;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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   177
    ec_slave_config_t *sc;
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   178
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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   179
    printk(KERN_INFO PFX "Starting...\n");
220
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   180
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
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    master = ecrt_request_master(0);
1378
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   182
    if (!master) {
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   183
        printk(KERN_ERR PFX "Requesting master 0 failed.\n");
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   184
        ret = -EBUSY;
1613
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   185
        goto out_return;
220
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   186
    }
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   187
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
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   188
    sema_init(&master_sem, 1);
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   189
    ecrt_master_callbacks(master, send_callback, receive_callback, master);
220
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diff changeset
   190
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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   191
    printk(KERN_INFO PFX "Registering domain...\n");
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
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diff changeset
   192
    if (!(domain1 = ecrt_master_create_domain(master))) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   193
        printk(KERN_ERR PFX "Domain creation failed!\n");
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   194
        goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   195
    }
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   196
1567
1babaa430b7b Added tty example.
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   197
    // Create configuration for bus coupler
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   198
    sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
1613
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diff changeset
   199
    if (!sc) {
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diff changeset
   200
        printk(KERN_ERR PFX "Failed to create slave config.\n");
070b4b420ab1 TTY: Sourced serial device functions out into serial.c/serial.h.
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diff changeset
   201
        ret = -ENOMEM;
070b4b420ab1 TTY: Sourced serial device functions out into serial.c/serial.h.
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   202
        goto out_release_master;
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diff changeset
   203
    }
070b4b420ab1 TTY: Sourced serial device functions out into serial.c/serial.h.
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   204
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   205
    create_serial_devices(master, domain1);
809
ec4ef8911824 External domain memory.
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   206
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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   207
    printk(KERN_INFO PFX "Activating master...\n");
220
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diff changeset
   208
    if (ecrt_master_activate(master)) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   209
        printk(KERN_ERR PFX "Failed to activate master!\n");
1613
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   210
        goto out_free_serial;
1567
1babaa430b7b Added tty example.
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diff changeset
   211
    }
1babaa430b7b Added tty example.
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   212
809
ec4ef8911824 External domain memory.
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   213
    // Get internal process data for domain
820
f8e6f5966cce Cleaned up mini module.
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   214
    domain1_pd = ecrt_domain_data(domain1);
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   215
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   216
    printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
220
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diff changeset
   217
    init_timer(&timer);
820
f8e6f5966cce Cleaned up mini module.
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diff changeset
   218
    timer.function = cyclic_task;
220
342ad851ec78 Added examples directory.
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diff changeset
   219
    timer.expires = jiffies + 10;
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diff changeset
   220
    add_timer(&timer);
342ad851ec78 Added examples directory.
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diff changeset
   221
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   222
    printk(KERN_INFO PFX "Started.\n");
220
342ad851ec78 Added examples directory.
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diff changeset
   223
    return 0;
342ad851ec78 Added examples directory.
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diff changeset
   224
1613
070b4b420ab1 TTY: Sourced serial device functions out into serial.c/serial.h.
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diff changeset
   225
out_free_serial:
070b4b420ab1 TTY: Sourced serial device functions out into serial.c/serial.h.
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diff changeset
   226
    free_serial_devices();
809
ec4ef8911824 External domain memory.
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diff changeset
   227
out_release_master:
654
8278e1e27010 Minor changes in minimal example.
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diff changeset
   228
    printk(KERN_ERR PFX "Releasing master...\n");
220
342ad851ec78 Added examples directory.
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parents:
diff changeset
   229
    ecrt_release_master(master);
809
ec4ef8911824 External domain memory.
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diff changeset
   230
out_return:
654
8278e1e27010 Minor changes in minimal example.
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diff changeset
   231
    printk(KERN_ERR PFX "Failed to load. Aborting.\n");
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
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parents: 1212
diff changeset
   232
    return ret;
220
342ad851ec78 Added examples directory.
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parents:
diff changeset
   233
}
342ad851ec78 Added examples directory.
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diff changeset
   234
342ad851ec78 Added examples directory.
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diff changeset
   235
/*****************************************************************************/
342ad851ec78 Added examples directory.
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parents:
diff changeset
   236
342ad851ec78 Added examples directory.
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parents:
diff changeset
   237
void __exit cleanup_mini_module(void)
342ad851ec78 Added examples directory.
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parents:
diff changeset
   238
{
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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parents: 551
diff changeset
   239
    printk(KERN_INFO PFX "Stopping...\n");
220
342ad851ec78 Added examples directory.
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parents:
diff changeset
   240
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   241
    del_timer_sync(&timer);
809
ec4ef8911824 External domain memory.
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parents: 799
diff changeset
   242
1613
070b4b420ab1 TTY: Sourced serial device functions out into serial.c/serial.h.
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diff changeset
   243
    free_serial_devices();
070b4b420ab1 TTY: Sourced serial device functions out into serial.c/serial.h.
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parents: 1581
diff changeset
   244
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   245
    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
   246
    ecrt_release_master(master);
220
342ad851ec78 Added examples directory.
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parents:
diff changeset
   247
654
8278e1e27010 Minor changes in minimal example.
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parents: 643
diff changeset
   248
    printk(KERN_INFO PFX "Unloading.\n");
220
342ad851ec78 Added examples directory.
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parents:
diff changeset
   249
}
342ad851ec78 Added examples directory.
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parents:
diff changeset
   250
342ad851ec78 Added examples directory.
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parents:
diff changeset
   251
/*****************************************************************************/
342ad851ec78 Added examples directory.
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parents:
diff changeset
   252
342ad851ec78 Added examples directory.
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diff changeset
   253
MODULE_LICENSE("GPL");
512
24292123d174 Shorter critical sections in examples.
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parents: 509
diff changeset
   254
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples.
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parents: 509
diff changeset
   255
MODULE_DESCRIPTION("EtherCAT minimal test environment");
220
342ad851ec78 Added examples directory.
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parents:
diff changeset
   256
342ad851ec78 Added examples directory.
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parents:
diff changeset
   257
module_init(init_mini_module);
342ad851ec78 Added examples directory.
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parents:
diff changeset
   258
module_exit(cleanup_mini_module);
342ad851ec78 Added examples directory.
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diff changeset
   259
342ad851ec78 Added examples directory.
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diff changeset
   260
/*****************************************************************************/