| author | Florian Pose <fp@igh-essen.com> |
| Tue, 01 Dec 2009 22:33:24 +0100 | |
| changeset 1574 | be344b8ca0e8 |
| parent 1573 | 74bf584564b8 |
| child 1575 | 17598f2332b6 |
| permissions | -rw-r--r-- |
| 220 | 1 |
/****************************************************************************** |
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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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ef907b0b5125
merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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* modify it under the terms of the GNU General Public License version 2, as |
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ef907b0b5125
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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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ef907b0b5125
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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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#include "../../include/ectty.h" // EtherCAT TTY interface |
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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 SerialPos 0, 1 |
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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#define Beckhoff_EL6002 0x00000002, 0x17723052 |
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// offsets for PDO entries |
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static unsigned int off_ctrl; |
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static unsigned int off_tx; |
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static unsigned int off_status; |
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static unsigned int off_rx; |
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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{SerialPos, Beckhoff_EL6002, 0x7001, 0x01, &off_ctrl},
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{SerialPos, Beckhoff_EL6002, 0x7000, 0x11, &off_tx},
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{SerialPos, Beckhoff_EL6002, 0x6001, 0x01, &off_status},
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{SerialPos, Beckhoff_EL6002, 0x6000, 0x11, &off_rx},
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{}
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}; |
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static unsigned int counter = 0; |
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typedef enum {
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SER_REQUEST_INIT, |
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SER_WAIT_FOR_INIT_RESPONSE, |
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SER_READY |
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} serial_state_t; |
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typedef struct {
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size_t max_tx_data_size; |
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size_t max_rx_data_size; |
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uint8_t *tx_data; |
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uint8_t tx_data_size; |
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serial_state_t state; |
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uint8_t tx_request_toggle; |
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uint8_t tx_accepted_toggle; |
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uint8_t rx_request_toggle; |
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uint8_t rx_accepted_toggle; |
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uint16_t control; |
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} serial_device_t; |
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static serial_device_t *ser = NULL; |
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static char tx_data[] = "ATZ\r\n"; |
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static off_t tx_off = 0; |
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static ec_tty_t *tty = NULL; |
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/*****************************************************************************/ |
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/* Slave 1, "EL6002" |
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* Vendor ID: 0x00000002 |
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* Product code: 0x17723052 |
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* Revision number: 0x00100000 |
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*/ |
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ec_pdo_entry_info_t slave_1_pdo_entries[] = {
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{0x7001, 0x01, 16}, /* Ctrl */
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{0x7000, 0x11, 8}, /* Data Out 0 */
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{0x7000, 0x12, 8}, /* Data Out 1 */
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{0x7000, 0x13, 8}, /* Data Out 2 */
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{0x7000, 0x14, 8}, /* Data Out 3 */
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{0x7000, 0x15, 8}, /* Data Out 4 */
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{0x7000, 0x16, 8}, /* Data Out 5 */
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{0x7000, 0x17, 8}, /* Data Out 6 */
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{0x7000, 0x18, 8}, /* Data Out 7 */
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{0x7000, 0x19, 8}, /* Data Out 8 */
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{0x7000, 0x1a, 8}, /* Data Out 9 */
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{0x7000, 0x1b, 8}, /* Data Out 10 */
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{0x7000, 0x1c, 8}, /* Data Out 11 */
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{0x7000, 0x1d, 8}, /* Data Out 12 */
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{0x7000, 0x1e, 8}, /* Data Out 13 */
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{0x7000, 0x1f, 8}, /* Data Out 14 */
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{0x7000, 0x20, 8}, /* Data Out 15 */
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{0x7000, 0x21, 8}, /* Data Out 16 */
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{0x7000, 0x22, 8}, /* Data Out 17 */
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{0x7000, 0x23, 8}, /* Data Out 18 */
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{0x7000, 0x24, 8}, /* Data Out 19 */
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{0x7000, 0x25, 8}, /* Data Out 20 */
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{0x7000, 0x26, 8}, /* Data Out 21 */
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{0x7011, 0x01, 16}, /* Ctrl */
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{0x7010, 0x11, 8}, /* Data Out 0 */
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{0x7010, 0x12, 8}, /* Data Out 1 */
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{0x7010, 0x13, 8}, /* Data Out 2 */
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{0x7010, 0x14, 8}, /* Data Out 3 */
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{0x7010, 0x15, 8}, /* Data Out 4 */
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{0x7010, 0x16, 8}, /* Data Out 5 */
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{0x7010, 0x17, 8}, /* Data Out 6 */
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{0x7010, 0x18, 8}, /* Data Out 7 */
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{0x7010, 0x19, 8}, /* Data Out 8 */
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{0x7010, 0x1a, 8}, /* Data Out 9 */
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{0x7010, 0x1b, 8}, /* Data Out 10 */
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{0x7010, 0x1c, 8}, /* Data Out 11 */
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{0x7010, 0x1d, 8}, /* Data Out 12 */
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{0x7010, 0x1e, 8}, /* Data Out 13 */
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{0x7010, 0x1f, 8}, /* Data Out 14 */
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{0x7010, 0x20, 8}, /* Data Out 15 */
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{0x7010, 0x21, 8}, /* Data Out 16 */
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{0x7010, 0x22, 8}, /* Data Out 17 */
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{0x7010, 0x23, 8}, /* Data Out 18 */
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{0x7010, 0x24, 8}, /* Data Out 19 */
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{0x7010, 0x25, 8}, /* Data Out 20 */
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{0x7010, 0x26, 8}, /* Data Out 21 */
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{0x6001, 0x01, 16}, /* Status */
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{0x6000, 0x11, 8}, /* Data In 0 */
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{0x6000, 0x12, 8}, /* Data In 1 */
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{0x6000, 0x13, 8}, /* Data In 2 */
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{0x6000, 0x14, 8}, /* Data In 3 */
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{0x6000, 0x15, 8}, /* Data In 4 */
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{0x6000, 0x16, 8}, /* Data In 5 */
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{0x6000, 0x17, 8}, /* Data In 6 */
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{0x6000, 0x18, 8}, /* Data In 7 */
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{0x6000, 0x19, 8}, /* Data In 8 */
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{0x6000, 0x1a, 8}, /* Data In 9 */
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{0x6000, 0x1b, 8}, /* Data In 10 */
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{0x6000, 0x1c, 8}, /* Data In 11 */
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{0x6000, 0x1d, 8}, /* Data In 12 */
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{0x6000, 0x1e, 8}, /* Data In 13 */
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{0x6000, 0x1f, 8}, /* Data In 14 */
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{0x6000, 0x20, 8}, /* Data In 15 */
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{0x6000, 0x21, 8}, /* Data In 16 */
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{0x6000, 0x22, 8}, /* Data In 17 */
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{0x6000, 0x23, 8}, /* Data In 18 */
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{0x6000, 0x24, 8}, /* Data In 19 */
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{0x6000, 0x25, 8}, /* Data In 20 */
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{0x6000, 0x26, 8}, /* Data In 21 */
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{0x6011, 0x01, 16}, /* Status */
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{0x6010, 0x11, 8}, /* Data In 0 */
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{0x6010, 0x12, 8}, /* Data In 1 */
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{0x6010, 0x13, 8}, /* Data In 2 */
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{0x6010, 0x14, 8}, /* Data In 3 */
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{0x6010, 0x15, 8}, /* Data In 4 */
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{0x6010, 0x16, 8}, /* Data In 5 */
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{0x6010, 0x17, 8}, /* Data In 6 */
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{0x6010, 0x18, 8}, /* Data In 7 */
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{0x6010, 0x19, 8}, /* Data In 8 */
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{0x6010, 0x1a, 8}, /* Data In 9 */
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{0x6010, 0x1b, 8}, /* Data In 10 */
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{0x6010, 0x1c, 8}, /* Data In 11 */
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{0x6010, 0x1d, 8}, /* Data In 12 */
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{0x6010, 0x1e, 8}, /* Data In 13 */
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{0x6010, 0x1f, 8}, /* Data In 14 */
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{0x6010, 0x20, 8}, /* Data In 15 */
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{0x6010, 0x21, 8}, /* Data In 16 */
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{0x6010, 0x22, 8}, /* Data In 17 */
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{0x6010, 0x23, 8}, /* Data In 18 */
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{0x6010, 0x24, 8}, /* Data In 19 */
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{0x6010, 0x25, 8}, /* Data In 20 */
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{0x6010, 0x26, 8}, /* Data In 21 */
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}; |
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| 1567 | 226 |
ec_pdo_info_t slave_1_pdos[] = {
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{0x1604, 23, slave_1_pdo_entries + 0}, /* COM RxPDO-Map Outputs Ch.1 */
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{0x1605, 23, slave_1_pdo_entries + 23}, /* COM RxPDO-Map Outputs Ch.2 */
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{0x1a04, 23, slave_1_pdo_entries + 46}, /* COM TxPDO-Map Inputs Ch.1 */
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{0x1a05, 23, slave_1_pdo_entries + 69}, /* COM TxPDO-Map Inputs Ch.2 */
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Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents:
1171
diff
changeset
|
231 |
}; |
|
c0e6adec1aee
Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents:
1171
diff
changeset
|
232 |
|
| 1567 | 233 |
ec_sync_info_t slave_1_syncs[] = {
|
234 |
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
|
|
235 |
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
|
|
236 |
{2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_DISABLE},
|
|
237 |
{3, EC_DIR_INPUT, 2, slave_1_pdos + 2, EC_WD_DISABLE},
|
|
238 |
{0xff}
|
|
|
1171
de880622f253
Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents:
1082
diff
changeset
|
239 |
}; |
| 1567 | 240 |
|
241 |
/****************************************************************************/ |
|
242 |
||
243 |
int serial_init(serial_device_t *ser, size_t max_tx, size_t max_rx) |
|
244 |
{
|
|
245 |
ser->max_tx_data_size = max_tx; |
|
246 |
ser->max_rx_data_size = max_rx; |
|
247 |
ser->tx_data = NULL; |
|
248 |
ser->tx_data_size = 0; |
|
249 |
ser->state = SER_REQUEST_INIT; |
|
250 |
ser->tx_request_toggle = 0; |
|
251 |
ser->rx_accepted_toggle = 0; |
|
252 |
ser->control = 0x0000; |
|
253 |
||
254 |
if (max_tx > 0) {
|
|
255 |
ser->tx_data = kmalloc(max_tx, GFP_KERNEL); |
|
256 |
if (ser->tx_data == NULL) {
|
|
257 |
return -ENOMEM; |
|
258 |
} |
|
259 |
} |
|
260 |
||
261 |
return 0; |
|
262 |
} |
|
263 |
||
264 |
/****************************************************************************/ |
|
265 |
||
266 |
void serial_clear(serial_device_t *ser) |
|
267 |
{
|
|
268 |
if (ser->tx_data) {
|
|
269 |
kfree(ser->tx_data); |
|
270 |
} |
|
271 |
} |
|
272 |
||
273 |
/****************************************************************************/ |
|
274 |
||
275 |
void serial_run(serial_device_t *ser, uint16_t status, uint8_t *rx_data) |
|
276 |
{
|
|
277 |
uint8_t tx_accepted_toggle, rx_request_toggle; |
|
278 |
||
279 |
switch (ser->state) {
|
|
280 |
case SER_READY: |
|
281 |
||
282 |
/* Send data */ |
|
283 |
||
284 |
tx_accepted_toggle = status & 0x0001; |
|
285 |
if (tx_accepted_toggle != ser->tx_accepted_toggle) { // ready
|
|
286 |
// send new data |
|
287 |
size_t rem = sizeof(tx_data) - tx_off; |
|
288 |
if (rem > 0) {
|
|
289 |
if (rem < ser->max_tx_data_size) {
|
|
290 |
ser->tx_data_size = rem; |
|
291 |
} else {
|
|
292 |
ser->tx_data_size = ser->max_tx_data_size; |
|
293 |
} |
|
294 |
printk(KERN_INFO PFX "Sending %u bytes.\n", ser->tx_data_size); |
|
295 |
memcpy(ser->tx_data, tx_data, ser->tx_data_size); |
|
296 |
tx_off += ser->tx_data_size; |
|
297 |
ser->tx_request_toggle = !ser->tx_request_toggle; |
|
298 |
ser->tx_accepted_toggle = tx_accepted_toggle; |
|
299 |
} |
|
300 |
} |
|
301 |
||
302 |
/* Receive data */ |
|
303 |
||
304 |
rx_request_toggle = status & 0x0002; |
|
305 |
if (rx_request_toggle != ser->rx_request_toggle) {
|
|
306 |
uint8_t rx_data_size = status >> 8, i; |
|
307 |
ser->rx_request_toggle = rx_request_toggle; |
|
308 |
printk(KERN_INFO PFX "Received %u bytes:\n", rx_data_size); |
|
309 |
for (i = 0; i < rx_data_size; i++) {
|
|
310 |
printk(KERN_INFO PFX "%02x\n", rx_data[i]); |
|
311 |
} |
|
312 |
ser->rx_accepted_toggle = !ser->rx_accepted_toggle; |
|
313 |
} |
|
314 |
||
315 |
ser->control = |
|
316 |
ser->tx_request_toggle | |
|
317 |
ser->rx_accepted_toggle << 1 | |
|
318 |
ser->tx_data_size << 8; |
|
319 |
break; |
|
320 |
||
321 |
case SER_REQUEST_INIT: |
|
322 |
if (status & (1 << 2)) {
|
|
323 |
ser->control = 0x0000; |
|
324 |
ser->state = SER_WAIT_FOR_INIT_RESPONSE; |
|
325 |
} else {
|
|
326 |
ser->control = 1 << 2; // CW.2, request initialization |
|
327 |
} |
|
328 |
break; |
|
329 |
||
330 |
case SER_WAIT_FOR_INIT_RESPONSE: |
|
331 |
if (!(status & (1 << 2))) {
|
|
332 |
printk(KERN_INFO PFX "Init successful.\n"); |
|
333 |
ser->tx_accepted_toggle = 1; |
|
334 |
ser->control = 0x0000; |
|
335 |
ser->state = SER_READY; |
|
336 |
} |
|
337 |
break; |
|
338 |
} |
|
339 |
||
340 |
} |
|
| 1209 | 341 |
|
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
851
diff
changeset
|
342 |
/*****************************************************************************/ |
|
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
851
diff
changeset
|
343 |
|
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
344 |
void check_domain1_state(void) |
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
345 |
{
|
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
346 |
ec_domain_state_t ds; |
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
347 |
|
|
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1378
diff
changeset
|
348 |
down(&master_sem); |
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
349 |
ecrt_domain_state(domain1, &ds); |
|
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1378
diff
changeset
|
350 |
up(&master_sem); |
|
1022
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
909
diff
changeset
|
351 |
|
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
352 |
if (ds.working_counter != domain1_state.working_counter) |
|
1022
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
909
diff
changeset
|
353 |
printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter); |
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
354 |
if (ds.wc_state != domain1_state.wc_state) |
|
1022
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
909
diff
changeset
|
355 |
printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state); |
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
356 |
|
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
357 |
domain1_state = ds; |
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
358 |
} |
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
359 |
|
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
360 |
/*****************************************************************************/ |
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
361 |
|
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
362 |
void check_master_state(void) |
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
363 |
{
|
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
364 |
ec_master_state_t ms; |
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
365 |
|
|
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1378
diff
changeset
|
366 |
down(&master_sem); |
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
367 |
ecrt_master_state(master, &ms); |
|
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1378
diff
changeset
|
368 |
up(&master_sem); |
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
369 |
|
|
1022
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
909
diff
changeset
|
370 |
if (ms.slaves_responding != master_state.slaves_responding) |
|
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
909
diff
changeset
|
371 |
printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding); |
|
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
909
diff
changeset
|
372 |
if (ms.al_states != master_state.al_states) |
|
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
909
diff
changeset
|
373 |
printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states); |
|
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
909
diff
changeset
|
374 |
if (ms.link_up != master_state.link_up) |
|
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
909
diff
changeset
|
375 |
printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down"); |
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
376 |
|
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
377 |
master_state = ms; |
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
378 |
} |
| 220 | 379 |
|
380 |
/*****************************************************************************/ |
|
381 |
||
| 820 | 382 |
void cyclic_task(unsigned long data) |
383 |
{
|
|
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
384 |
// receive process data |
|
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1378
diff
changeset
|
385 |
down(&master_sem); |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
280
diff
changeset
|
386 |
ecrt_master_receive(master); |
| 220 | 387 |
ecrt_domain_process(domain1); |
|
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1378
diff
changeset
|
388 |
up(&master_sem); |
| 220 | 389 |
|
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
390 |
// check process data state (optional) |
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
391 |
check_domain1_state(); |
|
512
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
392 |
|
|
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
393 |
if (counter) {
|
|
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
394 |
counter--; |
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
851
diff
changeset
|
395 |
} else { // do this at 1 Hz
|
|
512
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
396 |
counter = FREQUENCY; |
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
397 |
|
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
398 |
// check for master state (optional) |
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
399 |
check_master_state(); |
|
1022
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
909
diff
changeset
|
400 |
|
| 1567 | 401 |
tx_off = 0; |
402 |
} |
|
403 |
||
404 |
serial_run(ser, EC_READ_U16(domain1_pd + off_status), domain1_pd + off_rx); |
|
405 |
EC_WRITE_U16(domain1_pd + off_ctrl, ser->control); |
|
406 |
memcpy(domain1_pd + off_tx, ser->tx_data, 22); |
|
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
407 |
|
|
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
408 |
// send process data |
|
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1378
diff
changeset
|
409 |
down(&master_sem); |
|
509
87baea61d0c7
Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents:
472
diff
changeset
|
410 |
ecrt_domain_queue(domain1); |
|
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
280
diff
changeset
|
411 |
ecrt_master_send(master); |
|
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1378
diff
changeset
|
412 |
up(&master_sem); |
| 220 | 413 |
|
414 |
// restart timer |
|
415 |
timer.expires += HZ / FREQUENCY; |
|
416 |
add_timer(&timer); |
|
417 |
} |
|
418 |
||
419 |
/*****************************************************************************/ |
|
420 |
||
|
1513
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
421 |
void send_callback(void *cb_data) |
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
422 |
{
|
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
423 |
ec_master_t *m = (ec_master_t *) cb_data; |
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
424 |
down(&master_sem); |
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
425 |
ecrt_master_send_ext(m); |
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
426 |
up(&master_sem); |
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
427 |
} |
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
428 |
|
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
429 |
/*****************************************************************************/ |
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
430 |
|
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
431 |
void receive_callback(void *cb_data) |
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
432 |
{
|
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
433 |
ec_master_t *m = (ec_master_t *) cb_data; |
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
434 |
down(&master_sem); |
|
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
435 |
ecrt_master_receive(m); |
|
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1378
diff
changeset
|
436 |
up(&master_sem); |
| 220 | 437 |
} |
438 |
||
439 |
/*****************************************************************************/ |
|
440 |
||
441 |
int __init init_mini_module(void) |
|
442 |
{
|
|
|
1239
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1212
diff
changeset
|
443 |
int ret = -1; |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
444 |
ec_slave_config_t *sc; |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
445 |
|
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
446 |
printk(KERN_INFO PFX "Starting...\n"); |
| 220 | 447 |
|
| 1567 | 448 |
ser = kmalloc(sizeof(*ser), GFP_KERNEL); |
| 1573 | 449 |
if (!ser) {
|
| 1567 | 450 |
printk(KERN_ERR PFX "Failed to allocate serial device object.\n"); |
| 1573 | 451 |
ret = -ENOMEM; |
452 |
goto out_return; |
|
453 |
} |
|
454 |
||
| 1567 | 455 |
ret = serial_init(ser, 22, 22); |
456 |
if (ret) {
|
|
457 |
printk(KERN_ERR PFX "Failed to init serial device object.\n"); |
|
| 1573 | 458 |
goto out_free_serial; |
459 |
} |
|
460 |
||
461 |
tty = ectty_create(); |
|
462 |
if (IS_ERR(tty)) {
|
|
463 |
printk(KERN_ERR PFX "Failed to create tty.\n"); |
|
464 |
ret = PTR_ERR(tty); |
|
465 |
goto out_serial; |
|
| 1567 | 466 |
} |
467 |
||
|
1239
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1212
diff
changeset
|
468 |
master = ecrt_request_master(0); |
|
1378
1853f6c0b9b2
Removed IS_ERR() from minimal example.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
469 |
if (!master) {
|
|
1853f6c0b9b2
Removed IS_ERR() from minimal example.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
470 |
ret = -EBUSY; |
|
1239
b50b93faaf3e
Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents:
1212
diff
changeset
|
471 |
printk(KERN_ERR PFX "Requesting master 0 failed.\n"); |
| 1573 | 472 |
goto out_tty; |
| 220 | 473 |
} |
474 |
||
|
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1378
diff
changeset
|
475 |
init_MUTEX(&master_sem); |
|
1513
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1501
diff
changeset
|
476 |
ecrt_master_callbacks(master, send_callback, receive_callback, master); |
| 220 | 477 |
|
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
478 |
printk(KERN_INFO PFX "Registering domain...\n"); |
|
509
87baea61d0c7
Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents:
472
diff
changeset
|
479 |
if (!(domain1 = ecrt_master_create_domain(master))) {
|
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
480 |
printk(KERN_ERR PFX "Domain creation failed!\n"); |
|
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
481 |
goto out_release_master; |
|
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
482 |
} |
|
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
483 |
|
| 1567 | 484 |
// Create configuration for bus coupler |
485 |
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); |
|
486 |
if (!sc) |
|
487 |
return -1; |
|
488 |
||
489 |
if (!(sc = ecrt_master_slave_config( |
|
490 |
master, SerialPos, Beckhoff_EL6002))) {
|
|
|
1022
8e49b519e6ba
Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents:
909
diff
changeset
|
491 |
printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
| 1567 | 492 |
return -1; |
493 |
} |
|
494 |
||
495 |
printk("Configuring PDOs...\n");
|
|
496 |
if (ecrt_slave_config_pdos(sc, EC_END, slave_1_syncs)) {
|
|
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
497 |
printk(KERN_ERR PFX "Failed to configure PDOs.\n"); |
| 1567 | 498 |
return -1; |
499 |
} |
|
500 |
||
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
501 |
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
|
502 |
printk(KERN_ERR PFX "PDO entry registration failed!\n"); |
| 1567 | 503 |
return -1; |
504 |
} |
|
| 809 | 505 |
|
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
506 |
printk(KERN_INFO PFX "Activating master...\n"); |
| 220 | 507 |
if (ecrt_master_activate(master)) {
|
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
508 |
printk(KERN_ERR PFX "Failed to activate master!\n"); |
| 809 | 509 |
goto out_release_master; |
| 1567 | 510 |
} |
511 |
||
| 809 | 512 |
// Get internal process data for domain |
| 820 | 513 |
domain1_pd = ecrt_domain_data(domain1); |
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
514 |
|
|
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
515 |
printk(KERN_INFO PFX "Starting cyclic sample thread.\n"); |
| 220 | 516 |
init_timer(&timer); |
| 820 | 517 |
timer.function = cyclic_task; |
| 220 | 518 |
timer.expires = jiffies + 10; |
519 |
add_timer(&timer); |
|
520 |
||
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
521 |
printk(KERN_INFO PFX "Started.\n"); |
| 220 | 522 |
return 0; |
523 |
||
| 809 | 524 |
out_release_master: |
|
654
8278e1e27010
Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents:
643
diff
changeset
|
525 |
printk(KERN_ERR PFX "Releasing master...\n"); |
| 220 | 526 |
ecrt_release_master(master); |
| 1573 | 527 |
out_tty: |
528 |
ectty_free(tty); |
|
529 |
out_serial: |
|
530 |
serial_clear(ser); |
|
531 |
out_free_serial: |
|
532 |
kfree(ser); |
|
| 809 | 533 |
out_return: |
|
654
8278e1e27010
Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents:
643
diff
changeset
|
534 |
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:
1212
diff
changeset
|
535 |
return ret; |
| 220 | 536 |
} |
537 |
||
538 |
/*****************************************************************************/ |
|
539 |
||
540 |
void __exit cleanup_mini_module(void) |
|
541 |
{
|
|
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
542 |
printk(KERN_INFO PFX "Stopping...\n"); |
| 220 | 543 |
|
|
449
3caf8ff4d8a2
Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
446
diff
changeset
|
544 |
del_timer_sync(&timer); |
| 809 | 545 |
|
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
546 |
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
|
547 |
ecrt_release_master(master); |
| 220 | 548 |
|
| 1573 | 549 |
ectty_free(tty); |
550 |
serial_clear(ser); |
|
551 |
kfree(ser); |
|
552 |
||
|
654
8278e1e27010
Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents:
643
diff
changeset
|
553 |
printk(KERN_INFO PFX "Unloading.\n"); |
| 220 | 554 |
} |
555 |
||
556 |
/*****************************************************************************/ |
|
557 |
||
558 |
MODULE_LICENSE("GPL");
|
|
|
512
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
559 |
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
|
|
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
560 |
MODULE_DESCRIPTION("EtherCAT minimal test environment");
|
| 220 | 561 |
|
562 |
module_init(init_mini_module); |
|
563 |
module_exit(cleanup_mini_module); |
|
564 |
||
565 |
/*****************************************************************************/ |