examples/rtai/rtai_sample.c
author Florian Pose <fp@igh.de>
Wed, 06 Dec 2017 10:09:50 +0100
branchstable-1.5
changeset 2692 cb240525acb6
parent 2421 bc2d4bf9cbe5
permissions -rw-r--r--
Support scheduler parameters in kernels >= 4.11.
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/******************************************************************************
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 *
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 *  RTAI sample for the IgH EtherCAT master.
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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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// Linux
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#include <linux/module.h>
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#include <linux/err.h>
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// RTAI
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#include <rtai_sched.h>
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#include <rtai_sem.h>
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// EtherCAT
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#include "../../include/ecrt.h"
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/*****************************************************************************/
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// Module parameters
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#define FREQUENCY 2000 // task frequency in Hz
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#define INHIBIT_TIME 20
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#define TIMERTICKS (1000000000 / FREQUENCY)
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// Optional features (comment to disable)
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#define CONFIGURE_PDOS
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#define PFX "ec_rtai_sample: "
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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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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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// RTAI
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static RT_TASK task;
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static SEM master_sem;
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static cycles_t t_last_cycle = 0, t_critical;
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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, 3
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#define DigOutSlavePos 0, 2
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#define Beckhoff_EL2004 0x00000002, 0x07D43052
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#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
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static unsigned int off_ana_in; // offsets for PDO entries
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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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    {AnaInSlavePos,  Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
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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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#ifdef CONFIGURE_PDOS
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static 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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static 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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static ec_pdo_info_t el3162_pdos[] = {
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    {0x1A00, 2, el3162_channel1},
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    {0x1A01, 2, el3162_channel2}
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};
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static ec_sync_info_t el3162_syncs[] = {
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    {2, EC_DIR_OUTPUT},
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    {3, EC_DIR_INPUT, 2, el3162_pdos},
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    {0xff}
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};
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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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void check_domain1_state(void)
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{
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    ec_domain_state_t ds;
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    rt_sem_wait(&master_sem);
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    ecrt_domain_state(domain1, &ds);
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    rt_sem_signal(&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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    rt_sem_wait(&master_sem);
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    ecrt_master_state(master, &ms);
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    rt_sem_signal(&master_sem);
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    if (ms.slaves_responding != master_state.slaves_responding)
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        printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
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    if (ms.al_states != master_state.al_states)
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        printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
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    if (ms.link_up != master_state.link_up)
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        printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
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    master_state = ms;
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}
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/*****************************************************************************/
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void check_slave_config_states(void)
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{
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    ec_slave_config_state_t s;
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    rt_sem_wait(&master_sem);
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    ecrt_slave_config_state(sc_ana_in, &s);
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    rt_sem_signal(&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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220
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/*****************************************************************************/
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225
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void run(long data)
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{
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    while (1) {
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        t_last_cycle = get_cycles();
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        // receive process data
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        rt_sem_wait(&master_sem);
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        ecrt_master_receive(master);
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        ecrt_domain_process(domain1);
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        rt_sem_signal(&master_sem);
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        // check process data state (optional)
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        check_domain1_state();
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        if (counter) {
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            counter--;
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        } else { // do this at 1 Hz
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            counter = FREQUENCY;
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            // calculate new process data
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            blink = !blink;
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            // check for master state (optional)
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            check_master_state();
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            // check for islave configuration state(s) (optional)
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            check_slave_config_states();
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        }
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        // write process data
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        EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
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        rt_sem_wait(&master_sem);
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        ecrt_domain_queue(domain1);
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        ecrt_master_send(master);
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        rt_sem_signal(&master_sem);
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225
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        rt_task_wait_period();
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    }
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}
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/*****************************************************************************/
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1513
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void send_callback(void *cb_data)
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{
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    ec_master_t *m = (ec_master_t *) cb_data;
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    // too close to the next real time cycle: deny access...
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    if (get_cycles() - t_last_cycle <= t_critical) {
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        rt_sem_wait(&master_sem);
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60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
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parents: 1508
diff changeset
   253
        ecrt_master_send_ext(m);
1500
ed1a733efbc5 Improved the callback mechanism.
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parents: 1363
diff changeset
   254
        rt_sem_signal(&master_sem);
ed1a733efbc5 Improved the callback mechanism.
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parents: 1363
diff changeset
   255
    }
ed1a733efbc5 Improved the callback mechanism.
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parents: 1363
diff changeset
   256
}
ed1a733efbc5 Improved the callback mechanism.
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parents: 1363
diff changeset
   257
ed1a733efbc5 Improved the callback mechanism.
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parents: 1363
diff changeset
   258
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
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parents: 1363
diff changeset
   259
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
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parents: 1508
diff changeset
   260
void receive_callback(void *cb_data)
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
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parents: 1508
diff changeset
   261
{
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   262
    ec_master_t *m = (ec_master_t *) cb_data;
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
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parents: 1508
diff changeset
   263
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   264
    // too close to the next real time cycle: deny access...
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   265
    if (get_cycles() - t_last_cycle <= t_critical) {
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   266
        rt_sem_wait(&master_sem);
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   267
        ecrt_master_receive(m);
1500
ed1a733efbc5 Improved the callback mechanism.
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parents: 1363
diff changeset
   268
        rt_sem_signal(&master_sem);
ed1a733efbc5 Improved the callback mechanism.
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parents: 1363
diff changeset
   269
    }
225
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   270
}
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   271
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   272
/*****************************************************************************/
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   273
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   274
int __init init_mod(void)
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   275
{
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
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parents: 1082
diff changeset
   276
    int ret = -1;
225
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   277
    RTIME tick_period, requested_ticks, now;
1080
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   278
#ifdef CONFIGURE_PDOS
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   279
    ec_slave_config_t *sc;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   280
#endif
225
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   281
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   282
    printk(KERN_INFO PFX "Starting...\n");
225
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   283
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   284
    rt_sem_init(&master_sem, 1);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   285
342
cbcff2f19e99 RTAI example with INHIBIT time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   286
    t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
cbcff2f19e99 RTAI example with INHIBIT time.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   287
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   288
    master = ecrt_request_master(0);
1935
8ea1033bd4c2 Fixed NULL pointer dereference on request error in RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
   289
    if (!master) {
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1935
diff changeset
   290
        ret = -EBUSY;
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   291
        printk(KERN_ERR PFX "Requesting master 0 failed!\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
        goto out_return;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   293
    }
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   295
    ecrt_master_callbacks(master, send_callback, receive_callback, master);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
1080
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   297
    printk(KERN_INFO PFX "Registering domain...\n");
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 259
diff changeset
   298
    if (!(domain1 = ecrt_master_create_domain(master))) {
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   299
        printk(KERN_ERR PFX "Domain creation failed!\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   300
        goto out_release_master;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   301
    }
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   302
1080
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   303
    if (!(sc_ana_in = ecrt_master_slave_config(
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   304
                    master, AnaInSlavePos, Beckhoff_EL3162))) {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   305
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   306
        goto out_release_master;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   307
    }
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   308
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   309
#ifdef 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
   310
    printk(KERN_INFO PFX "Configuring PDOs...\n");
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1080
diff changeset
   311
    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   312
        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
1080
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   313
        goto out_release_master;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   314
    }
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   315
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   316
    if (!(sc = ecrt_master_slave_config(master, DigOutSlavePos, Beckhoff_EL2004))) {
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   317
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   318
        goto out_release_master;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   319
    }
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   320
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1080
diff changeset
   321
    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
   322
        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
1080
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   323
        goto out_release_master;
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   324
    }
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   325
#endif
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   326
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   327
    printk(KERN_INFO PFX "Registering PDO entries...\n");
1080
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   328
    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
   329
        printk(KERN_ERR PFX "PDO entry registration failed!\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   330
        goto out_release_master;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   331
    }
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   333
    printk(KERN_INFO PFX "Activating master...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
    if (ecrt_master_activate(master)) {
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   335
        printk(KERN_ERR PFX "Failed to activate master!\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
        goto out_release_master;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
    }
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
1080
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   339
    // Get internal process data for domain
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   340
    domain1_pd = ecrt_domain_data(domain1);
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   341
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   342
    printk(KERN_INFO PFX "Starting cyclic sample thread...\n");
225
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   343
    requested_ticks = nano2count(TIMERTICKS);
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   344
    tick_period = start_rt_timer(requested_ticks);
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   345
    printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n",
225
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   346
           (int) tick_period, (int) requested_ticks);
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   347
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   348
    if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   349
        printk(KERN_ERR PFX "Failed to init RTAI task!\n");
225
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   350
        goto out_stop_timer;
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   351
    }
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   352
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   353
    now = rt_get_time();
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   354
    if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   355
        printk(KERN_ERR PFX "Failed to run RTAI task!\n");
225
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   356
        goto out_stop_task;
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   357
    }
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   358
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   359
    printk(KERN_INFO PFX "Initialized.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
    return 0;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
225
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   362
 out_stop_task:
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   363
    rt_task_delete(&task);
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   364
 out_stop_timer:
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   365
    stop_rt_timer();
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
 out_release_master:
655
3702f0d6693b Merged changes of examples/mini/mini.c -r858:859 to
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   367
    printk(KERN_ERR PFX "Releasing master...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
    ecrt_release_master(master);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
 out_return:
225
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   370
    rt_sem_delete(&master_sem);
655
3702f0d6693b Merged changes of examples/mini/mini.c -r858:859 to
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   371
    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: 1082
diff changeset
   372
    return ret;
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
225
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   377
void __exit cleanup_mod(void)
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   378
{
655
3702f0d6693b Merged changes of examples/mini/mini.c -r858:859 to
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   379
    printk(KERN_INFO PFX "Stopping...\n");
225
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   380
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   381
    rt_task_delete(&task);
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   382
    stop_rt_timer();
9e8150db6fc8 Applied RTAI interface to RTAI example.
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   383
    ecrt_release_master(master);
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    rt_sem_delete(&master_sem);
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    printk(KERN_INFO PFX "Unloading.\n");
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}
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/*****************************************************************************/
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512
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MODULE_LICENSE("GPL");
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MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
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MODULE_DESCRIPTION("EtherCAT RTAI sample module");
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225
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module_init(init_mod);
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module_exit(cleanup_mod);
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/*****************************************************************************/