examples/mini/mini.c
author Florian Pose <fp@igh.de>
Wed, 06 Dec 2017 10:09:50 +0100
branchstable-1.5
changeset 2692 cb240525acb6
parent 2421 bc2d4bf9cbe5
child 2696 2b072c95b34c
permissions -rw-r--r--
Support scheduler parameters in kernels >= 4.11.
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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, 34)
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#include <linux/slab.h>
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#endif
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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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/*****************************************************************************/
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// Module parameters
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#define FREQUENCY 100
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// Optional features
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#define CONFIGURE_PDOS  1
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#define EL3152_ALT_PDOS 0
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#define EXTERNAL_MEMORY 1
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#define SDO_ACCESS      0
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#define VOE_ACCESS      0
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#define PFX "ec_mini: "
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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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static ec_slave_config_t *sc_ana_in = NULL;
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static ec_slave_config_state_t sc_ana_in_state = {};
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// 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 AnaInSlavePos  0, 2
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#define AnaOutSlavePos 0, 1
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#define DigOutSlavePos 0, 3
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#define Beckhoff_EL2004 0x00000002, 0x07D43052
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#define Beckhoff_EL3152 0x00000002, 0x0c503052
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#define Beckhoff_EL4102 0x00000002, 0x10063052
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// offsets for PDO entries
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static unsigned int off_ana_in;
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static unsigned int off_ana_out;
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static unsigned int off_dig_out;
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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#if EL3152_ALT_PDOS
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    {AnaInSlavePos,  Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
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#else
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    {AnaInSlavePos,  Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
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#endif
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    {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
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    {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
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    {}
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};
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static unsigned int counter = 0;
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static unsigned int blink = 0;
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/*****************************************************************************/
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#if CONFIGURE_PDOS
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// Analog in --------------------------
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static ec_pdo_entry_info_t el3152_pdo_entries[] = {
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    {0x3101, 1,  8}, // channel 1 status
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    {0x3101, 2, 16}, // channel 1 value
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    {0x3102, 1,  8}, // channel 2 status
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    {0x3102, 2, 16}, // channel 2 value
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    {0x6401, 1, 16}, // channel 1 value (alt.)
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    {0x6401, 2, 16}  // channel 2 value (alt.)
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};
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#if EL3152_ALT_PDOS
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static ec_pdo_info_t el3152_pdos[] = {
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    {0x1A10, 2, el3152_pdo_entries + 4},
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};
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static ec_sync_info_t el3152_syncs[] = {
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    {2, EC_DIR_OUTPUT},
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    {3, EC_DIR_INPUT, 1, el3152_pdos},
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    {0xff}
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};
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#else
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static ec_pdo_info_t el3152_pdos[] = {
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    {0x1A00, 2, el3152_pdo_entries},
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    {0x1A01, 2, el3152_pdo_entries + 2}
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};
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static ec_sync_info_t el3152_syncs[] = {
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    {2, EC_DIR_OUTPUT},
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    {3, EC_DIR_INPUT, 1, el3152_pdos},
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    {0xff}
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};
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#endif
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// Analog out -------------------------
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static ec_pdo_entry_info_t el4102_pdo_entries[] = {
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    {0x3001, 1, 16}, // channel 1 value
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    {0x3002, 1, 16}, // channel 2 value
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};
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static ec_pdo_info_t el4102_pdos[] = {
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    {0x1600, 1, el4102_pdo_entries},
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    {0x1601, 1, el4102_pdo_entries + 1}
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};
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static ec_sync_info_t el4102_syncs[] = {
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    {2, EC_DIR_OUTPUT, 2, el4102_pdos},
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    {3, EC_DIR_INPUT},
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    {0xff}
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};
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// Digital out ------------------------
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static ec_pdo_entry_info_t el2004_channels[] = {
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    {0x3001, 1, 1}, // Value 1
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    {0x3001, 2, 1}, // Value 2
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    {0x3001, 3, 1}, // Value 3
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    {0x3001, 4, 1}  // Value 4
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};
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static ec_pdo_info_t el2004_pdos[] = {
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    {0x1600, 1, &el2004_channels[0]},
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    {0x1601, 1, &el2004_channels[1]},
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    {0x1602, 1, &el2004_channels[2]},
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    {0x1603, 1, &el2004_channels[3]}
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};
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static ec_sync_info_t el2004_syncs[] = {
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    {0, EC_DIR_OUTPUT, 4, el2004_pdos},
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    {1, EC_DIR_INPUT},
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    {0xff}
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};
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#endif
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/*****************************************************************************/
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#if SDO_ACCESS
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static ec_sdo_request_t *sdo;
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#endif
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#if VOE_ACCESS
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static ec_voe_handler_t *voe;
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#endif
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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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}
220
342ad851ec78 Added examples directory.
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/*****************************************************************************/
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void check_slave_config_states(void)
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{
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    ec_slave_config_state_t s;
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    down(&master_sem);
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    ecrt_slave_config_state(sc_ana_in, &s);
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    up(&master_sem);
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    if (s.al_state != sc_ana_in_state.al_state)
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        printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
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    if (s.online != sc_ana_in_state.online)
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        printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
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    if (s.operational != sc_ana_in_state.operational)
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        printk(KERN_INFO PFX "AnaIn: %soperational.\n",
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                s.operational ? "" : "Not ");
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    sc_ana_in_state = s;
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}
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/*****************************************************************************/
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#if SDO_ACCESS
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void read_sdo(void)
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{
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    switch (ecrt_sdo_request_state(sdo)) {
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        case EC_REQUEST_UNUSED: // request was not used yet
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            ecrt_sdo_request_read(sdo); // trigger first read
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            break;
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        case EC_REQUEST_BUSY:
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   268
            printk(KERN_INFO PFX "Still busy...\n");
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   269
            break;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   270
        case EC_REQUEST_SUCCESS:
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   271
            printk(KERN_INFO PFX "SDO value: 0x%04X\n",
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   272
                    EC_READ_U16(ecrt_sdo_request_data(sdo)));
867
93a0180ee938 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   273
            ecrt_sdo_request_read(sdo); // trigger next read
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   274
            break;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   275
        case EC_REQUEST_ERROR:
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   276
            printk(KERN_INFO PFX "Failed to read SDO!\n");
867
93a0180ee938 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   277
            ecrt_sdo_request_read(sdo); // retry reading
858
69122084d066 Basic reading realtime Sdo access working.
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parents: 851
diff changeset
   278
            break;
69122084d066 Basic reading realtime Sdo access working.
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parents: 851
diff changeset
   279
    }
69122084d066 Basic reading realtime Sdo access working.
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parents: 851
diff changeset
   280
}
69122084d066 Basic reading realtime Sdo access working.
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diff changeset
   281
#endif
69122084d066 Basic reading realtime Sdo access working.
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diff changeset
   282
69122084d066 Basic reading realtime Sdo access working.
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diff changeset
   283
/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working.
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parents: 851
diff changeset
   284
1209
8be462afb7f4 Added VoE handler.
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parents: 1179
diff changeset
   285
#if VOE_ACCESS
8be462afb7f4 Added VoE handler.
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parents: 1179
diff changeset
   286
void read_voe(void)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   287
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   288
    switch (ecrt_voe_handler_execute(voe)) {
8be462afb7f4 Added VoE handler.
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parents: 1179
diff changeset
   289
        case EC_REQUEST_UNUSED:
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   290
            ecrt_voe_handler_read(voe); // trigger first read
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   291
            break;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   292
        case EC_REQUEST_BUSY:
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   293
            printk(KERN_INFO PFX "VoE read still busy...\n");
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   294
            break;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   295
        case EC_REQUEST_SUCCESS:
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   296
            printk(KERN_INFO PFX "VoE received.\n");
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   297
            // get data via ecrt_voe_handler_data(voe)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   298
            ecrt_voe_handler_read(voe); // trigger next read
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   299
            break;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   300
        case EC_REQUEST_ERROR:
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   301
            printk(KERN_INFO PFX "Failed to read VoE data!\n");
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   302
            ecrt_voe_handler_read(voe); // retry reading
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   303
            break;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   304
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   305
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   306
#endif
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   307
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   308
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   309
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   310
void cyclic_task(unsigned long data)
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   311
{
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   312
    // receive process data
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1378
diff changeset
   313
    down(&master_sem);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 280
diff changeset
   314
    ecrt_master_receive(master);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
    ecrt_domain_process(domain1);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1378
diff changeset
   316
    up(&master_sem);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   318
    // check process data state (optional)
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   319
    check_domain1_state();
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   320
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   321
    if (counter) {
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   322
        counter--;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   323
    } else { // do this at 1 Hz
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   324
        counter = FREQUENCY;
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   325
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   326
        // calculate new process data
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   327
        blink = !blink;
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   328
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   329
        // check for master state (optional)
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   330
        check_master_state();
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   331
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   332
        // check for islave configuration state(s) (optional)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   333
        check_slave_config_states();
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1975
diff changeset
   334
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   335
#if SDO_ACCESS
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   336
        // read process data SDO
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   337
        read_sdo();
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   338
#endif
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   339
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   340
#if VOE_ACCESS
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   341
        read_voe();
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   342
#endif
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   343
    }
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   344
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   345
    // write process data
846
19248bbf9308 Cross blinking.
Florian Pose <fp@igh-essen.com>
parents: 820
diff changeset
   346
    EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   347
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   348
    // send process data
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1378
diff changeset
   349
    down(&master_sem);
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents: 472
diff changeset
   350
    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
   351
    ecrt_master_send(master);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1378
diff changeset
   352
    up(&master_sem);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
    // restart timer
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
    timer.expires += HZ / FREQUENCY;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
    add_timer(&timer);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1501
diff changeset
   361
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
   362
{
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1501
diff changeset
   363
    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
   364
    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
   365
    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
   366
    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
   367
}
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1501
diff changeset
   368
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1501
diff changeset
   369
/*****************************************************************************/
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1501
diff changeset
   370
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1501
diff changeset
   371
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
   372
{
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1501
diff changeset
   373
    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
   374
    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
   375
    ecrt_master_receive(m);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1378
diff changeset
   376
    up(&master_sem);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
int __init init_mini_module(void)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
{
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1212
diff changeset
   383
    int ret = -1;
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   384
#if CONFIGURE_PDOS
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   385
    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
   386
#endif
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   387
#if EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   388
    unsigned int size;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   389
#endif
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1975
diff changeset
   390
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   391
    printk(KERN_INFO PFX "Starting...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1212
diff changeset
   393
    master = ecrt_request_master(0);
1378
1853f6c0b9b2 Removed IS_ERR() from minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   394
    if (!master) {
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1975
diff changeset
   395
        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
   396
        printk(KERN_ERR PFX "Requesting master 0 failed.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
        goto out_return;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
    }
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1501
diff changeset
   400
    sema_init(&master_sem, 1);
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1501
diff changeset
   401
    ecrt_master_callbacks(master, send_callback, receive_callback, master);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   403
    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
   404
    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
   405
        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
   406
        goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   407
    }
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   408
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   409
    if (!(sc_ana_in = ecrt_master_slave_config(
1179
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   410
                    master, AnaInSlavePos, Beckhoff_EL3152))) {
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   411
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   412
        goto out_release_master;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   413
    }
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   414
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   415
#if CONFIGURE_PDOS
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   416
    printk(KERN_INFO PFX "Configuring PDOs...\n");
1179
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   417
    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   418
        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
1179
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   419
        goto out_release_master;
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   420
    }
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   421
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   422
    if (!(sc = ecrt_master_slave_config(
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   423
                    master, AnaOutSlavePos, Beckhoff_EL4102))) {
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   424
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   425
        goto out_release_master;
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   426
    }
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   427
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   428
    if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   429
        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   430
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   431
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   432
1080
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 1061
diff changeset
   433
    if (!(sc = ecrt_master_slave_config(
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 1061
diff changeset
   434
                    master, DigOutSlavePos, Beckhoff_EL2004))) {
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   435
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   436
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   437
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   438
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1080
diff changeset
   439
    if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   440
        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   441
        goto out_release_master;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   442
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   443
#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   444
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   445
#if SDO_ACCESS
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   446
    printk(KERN_INFO PFX "Creating SDO requests...\n");
1026
021b8cdeb384 Minor changes to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   447
    if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   448
        printk(KERN_ERR PFX "Failed to create SDO request.\n");
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   449
        goto out_release_master;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   450
    }
1026
021b8cdeb384 Minor changes to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   451
    ecrt_sdo_request_timeout(sdo, 500); // ms
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   452
#endif
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   453
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   454
#if VOE_ACCESS
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   455
    printk(KERN_INFO PFX "Creating VoE handlers...\n");
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   456
    if (!(voe = ecrt_slave_config_create_voe_handler(sc_ana_in, 1000))) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   457
        printk(KERN_ERR PFX "Failed to create VoE handler.\n");
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   458
        goto out_release_master;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   459
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   460
#endif
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1179
diff changeset
   461
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   462
    printk(KERN_INFO PFX "Registering PDO entries...\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   463
    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
   464
        printk(KERN_ERR PFX "PDO entry registration failed!\n");
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   465
        goto out_release_master;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   466
    }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   467
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   468
#if EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   469
    if ((size = ecrt_domain_size(domain1))) {
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   470
        if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   471
            printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   472
                    " memory!\n", size);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   473
            goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   474
        }
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   475
        ecrt_domain_external_memory(domain1, domain1_pd);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   476
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   477
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   478
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   479
    printk(KERN_INFO PFX "Activating master...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
    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
   481
        printk(KERN_ERR PFX "Failed to activate master!\n");
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   482
#if EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   483
        goto out_free_process_data;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   484
#else
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   485
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   486
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   487
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   488
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   489
#if !EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   490
    // Get internal process data for domain
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   491
    domain1_pd = ecrt_domain_data(domain1);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   492
#endif
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   493
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   494
    printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    init_timer(&timer);
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   496
    timer.function = cyclic_task;
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
    timer.expires = jiffies + 10;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
    add_timer(&timer);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   500
    printk(KERN_INFO PFX "Started.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
    return 0;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   503
#if EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   504
out_free_process_data:
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   505
    kfree(domain1_pd);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   506
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   507
out_release_master:
654
8278e1e27010 Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   508
    printk(KERN_ERR PFX "Releasing master...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
    ecrt_release_master(master);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   510
out_return:
654
8278e1e27010 Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   511
    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
   512
    return ret;
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
void __exit cleanup_mini_module(void)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
{
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   519
    printk(KERN_INFO PFX "Stopping...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   521
    del_timer_sync(&timer);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   522
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   523
#if EXTERNAL_MEMORY
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   524
    kfree(domain1_pd);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   525
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   526
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   527
    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
   528
    ecrt_release_master(master);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
654
8278e1e27010 Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   530
    printk(KERN_INFO PFX "Unloading.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   535
MODULE_LICENSE("GPL");
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   536
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   537
MODULE_DESCRIPTION("EtherCAT minimal test environment");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
module_init(init_mini_module);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   540
module_exit(cleanup_mini_module);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   541
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
/*****************************************************************************/