examples/mini/mini.c
author Florian Pose <fp@igh-essen.com>
Tue, 19 Feb 2008 10:33:26 +0000
changeset 795 c695e53940d4
parent 794 684dea874956
child 799 068a58b96965
permissions -rw-r--r--
Renamed a few configuration states.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  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
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General 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
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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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#include <linux/module.h>
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#include <linux/timer.h>
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#include <linux/spinlock.h>
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#include <linux/interrupt.h>
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#include "../../include/ecrt.h" // EtherCAT realtime interface
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#include "../../include/ecdb.h" // EtherCAT slave database
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#define PFX "ec_mini: "
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#define FREQUENCY 100
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//#define KBUS
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#define PDOS
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#define MAPPING
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/*****************************************************************************/
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static struct timer_list timer;
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_domain_t *domain1 = NULL;
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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static ec_master_state_t master_state, old_state = {};
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// data fields
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#ifdef KBUS
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static void *r_inputs;
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static void *r_outputs;
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#endif
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#ifdef MAPPING
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const ec_pdo_entry_info_t el3162_channel1[] = {
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    {0x3101, 1,  8}, // status
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    {0x3101, 2, 16}  // value
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};
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const ec_pdo_entry_info_t el3162_channel2[] = {
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    {0x3102, 1,  8}, // status
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    {0x3102, 2, 16}  // value
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};
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const ec_pdo_info_t mapping[] = {
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    {EC_DIR_INPUT, 0x1A00, 2, el3162_channel1},
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    {EC_DIR_INPUT, 0x1A01, 2, el3162_channel2},
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};
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#endif
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#ifdef PDOS
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static uint8_t off_ana_in;
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static uint8_t off_ana_out;
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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    {0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
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    //{0, 2, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
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    {}
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};
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#endif
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/*****************************************************************************/
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void run(unsigned long data)
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{
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    static unsigned int counter = 0;
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    static unsigned int blink = 0;
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    // receive
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    spin_lock(&master_lock);
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    ecrt_master_receive(master);
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    ecrt_domain_process(domain1);
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    spin_unlock(&master_lock);
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    // process data
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    // k_pos = EC_READ_U32(r_ssi);
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    //EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00);
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    if (counter) {
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        counter--;
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    }
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    else {
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        counter = FREQUENCY;
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        blink = !blink;
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        spin_lock(&master_lock);
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        ecrt_master_state(master, &master_state);
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        spin_unlock(&master_lock);
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        if (master_state.bus_state != old_state.bus_state) {
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            printk(KERN_INFO PFX "bus state changed to %i.\n",
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                    master_state.bus_state);
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        }
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        if (master_state.bus_tainted != old_state.bus_tainted) {
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            printk(KERN_INFO PFX "tainted flag changed to %u.\n",
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                    master_state.bus_tainted);
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        }
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        if (master_state.slaves_responding !=
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                old_state.slaves_responding) {
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            printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
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                    master_state.slaves_responding);
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        }
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        old_state = master_state;
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    }
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#ifdef KBUS
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    EC_WRITE_U8(r_outputs + 2, blink ? 0xFF : 0x00);
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#endif
513
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220
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    // send
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    spin_lock(&master_lock);
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    ecrt_domain_queue(domain1);
516
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    spin_unlock(&master_lock);
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    spin_lock(&master_lock);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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    ecrt_master_send(master);
220
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    spin_unlock(&master_lock);
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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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int request_lock(void *data)
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{
516
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    spin_lock(&master_lock);
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
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    return 0; // access allowed
220
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}
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/*****************************************************************************/
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void release_lock(void *data)
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{
516
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    spin_unlock(&master_lock);
220
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}
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/*****************************************************************************/
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int __init init_mini_module(void)
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{
792
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#ifdef MAPPING
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    ec_slave_config_t *sc;
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#endif
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    printk(KERN_INFO PFX "Starting...\n");
220
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509
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    if (!(master = ecrt_request_master(0))) {
612
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        printk(KERN_ERR PFX "Requesting master 0 failed!\n");
220
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        goto out_return;
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   185
    }
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    ecrt_master_callbacks(master, request_lock, release_lock, NULL);
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   188
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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   189
    printk(KERN_INFO PFX "Registering domain...\n");
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
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diff changeset
   190
    if (!(domain1 = ecrt_master_create_domain(master))) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   191
        printk(KERN_ERR PFX "Domain creation failed!\n");
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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   192
        goto out_release_master;
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diff changeset
   193
    }
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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   194
792
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   195
#ifdef MAPPING
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   196
    printk(KERN_INFO PFX "Configuring Pdo mapping...\n");
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   197
    if (!(sc = ecrt_master_slave_config(master, 0, 1, Beckhoff_EL3162))) {
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   198
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
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   199
        goto out_release_master;
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   200
    }
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   201
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   202
    if (ecrt_slave_config_mapping(sc, 2, mapping)) {
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        printk(KERN_ERR PFX "Failed to configure Pdo mapping.\n");
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        goto out_release_master;
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   205
    }
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   206
#endif
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   207
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    printk(KERN_INFO PFX "Registering PDO entries...\n");
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   209
#ifdef PDOS
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   210
    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
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   211
        printk(KERN_ERR PFX "PDO entry registration failed!\n");
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   212
        goto out_release_master;
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diff changeset
   213
    }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   214
#endif
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   215
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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   216
    printk(KERN_INFO PFX "Activating master...\n");
220
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   217
    if (ecrt_master_activate(master)) {
612
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diff changeset
   218
        printk(KERN_ERR PFX "Failed to activate master!\n");
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   219
        goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   220
    }
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   221
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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   222
    printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
220
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   223
    init_timer(&timer);
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diff changeset
   224
    timer.function = run;
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   225
    timer.expires = jiffies + 10;
342ad851ec78 Added examples directory.
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diff changeset
   226
    add_timer(&timer);
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diff changeset
   227
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   228
    printk(KERN_INFO PFX "Started.\n");
220
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   229
    return 0;
342ad851ec78 Added examples directory.
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   230
342ad851ec78 Added examples directory.
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   231
 out_release_master:
654
8278e1e27010 Minor changes in minimal example.
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diff changeset
   232
    printk(KERN_ERR PFX "Releasing master...\n");
220
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diff changeset
   233
    ecrt_release_master(master);
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diff changeset
   234
 out_return:
654
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diff changeset
   235
    printk(KERN_ERR PFX "Failed to load. Aborting.\n");
220
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diff changeset
   236
    return -1;
342ad851ec78 Added examples directory.
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diff changeset
   237
}
342ad851ec78 Added examples directory.
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diff changeset
   238
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diff changeset
   239
/*****************************************************************************/
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diff changeset
   240
342ad851ec78 Added examples directory.
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diff changeset
   241
void __exit cleanup_mini_module(void)
342ad851ec78 Added examples directory.
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   242
{
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   243
    printk(KERN_INFO PFX "Stopping...\n");
220
342ad851ec78 Added examples directory.
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diff changeset
   244
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   245
    del_timer_sync(&timer);
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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parents: 551
diff changeset
   246
    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
   247
    ecrt_release_master(master);
220
342ad851ec78 Added examples directory.
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diff changeset
   248
654
8278e1e27010 Minor changes in minimal example.
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diff changeset
   249
    printk(KERN_INFO PFX "Unloading.\n");
220
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   250
}
342ad851ec78 Added examples directory.
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   251
342ad851ec78 Added examples directory.
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   252
/*****************************************************************************/
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   253
342ad851ec78 Added examples directory.
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   254
MODULE_LICENSE("GPL");
512
24292123d174 Shorter critical sections in examples.
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   255
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples.
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diff changeset
   256
MODULE_DESCRIPTION("EtherCAT minimal test environment");
220
342ad851ec78 Added examples directory.
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diff changeset
   257
342ad851ec78 Added examples directory.
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   258
module_init(init_mini_module);
342ad851ec78 Added examples directory.
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diff changeset
   259
module_exit(cleanup_mini_module);
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   260
342ad851ec78 Added examples directory.
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diff changeset
   261
/*****************************************************************************/