etherlabmaster: examples/mini/mini.c@cceb9aacf4a6 (annotated)

220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	11	* published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	12	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	16	* Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	17	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1239 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	27	*
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
1501 59990318c95b Added semaphore header distinction in minimal example. Florian Pose <fp@igh-essen.com> parents: 1500 diff changeset	30	#include <linux/version.h>
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	#include <linux/module.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	#include <linux/timer.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	#include <linux/interrupt.h>
1239 b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	34	#include <linux/err.h>
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	35
1975 8e173dddd183 Improved compiling on 2.6.34 (thanks to Malcolm Lewis). Florian Pose <fp@igh-essen.com> parents: 1580 diff changeset	36	#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 34)
8e173dddd183 Improved compiling on 2.6.34 (thanks to Malcolm Lewis). Florian Pose <fp@igh-essen.com> parents: 1580 diff changeset	37	#include <linux/slab.h>
8e173dddd183 Improved compiling on 2.6.34 (thanks to Malcolm Lewis). Florian Pose <fp@igh-essen.com> parents: 1580 diff changeset	38	#endif
8e173dddd183 Improved compiling on 2.6.34 (thanks to Malcolm Lewis). Florian Pose <fp@igh-essen.com> parents: 1580 diff changeset	39
1501 59990318c95b Added semaphore header distinction in minimal example. Florian Pose <fp@igh-essen.com> parents: 1500 diff changeset	40	#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
59990318c95b Added semaphore header distinction in minimal example. Florian Pose <fp@igh-essen.com> parents: 1500 diff changeset	41	#include <linux/semaphore.h>
59990318c95b Added semaphore header distinction in minimal example. Florian Pose <fp@igh-essen.com> parents: 1500 diff changeset	42	#else
59990318c95b Added semaphore header distinction in minimal example. Florian Pose <fp@igh-essen.com> parents: 1500 diff changeset	43	#include <asm/semaphore.h>
59990318c95b Added semaphore header distinction in minimal example. Florian Pose <fp@igh-essen.com> parents: 1500 diff changeset	44	#endif
59990318c95b Added semaphore header distinction in minimal example. Florian Pose <fp@igh-essen.com> parents: 1500 diff changeset	45
223 daa5e5656b35 Applied new path information to example modules. Florian Pose <fp@igh-essen.com> parents: 220 diff changeset	46	#include "../../include/ecrt.h" // EtherCAT realtime interface
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	47
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	48	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	49
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	50	// Module parameters
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	#define FREQUENCY 100
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	52
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	53	// Optional features
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	54	#define CONFIGURE_PDOS 1
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	55	#define EL3152_ALT_PDOS 0
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	56	#define EXTERNAL_MEMORY 1
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	57	#define SDO_ACCESS 0
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	58	#define VOE_ACCESS 0
457 2b4ba84b6058 Minor changes to minimal example. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	59
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	60	#define PFX "ec_mini: "
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	61
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	62	/*****************************************************************************/
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	63
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	// EtherCAT
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	65	static ec_master_t *master = NULL;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	66	static ec_master_state_t master_state = {};
1500 ed1a733efbc5 Improved the callback mechanism. Florian Pose <fp@igh-essen.com> parents: 1378 diff changeset	67	struct semaphore master_sem;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	68
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	69	static ec_domain_t *domain1 = NULL;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	70	static ec_domain_state_t domain1_state = {};
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	71
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	72	static ec_slave_config_t *sc_ana_in = NULL;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	73	static ec_slave_config_state_t sc_ana_in_state = {};
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	74
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	75	// Timer
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	76	static struct timer_list timer;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	77
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	78	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	79
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	80	// process data
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	81	static uint8_t *domain1_pd; // process data memory
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	82
1212 d634ed3a9b94 mini top. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	83	#define AnaInSlavePos 0, 2
d634ed3a9b94 mini top. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	84	#define AnaOutSlavePos 0, 1
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	85	#define DigOutSlavePos 0, 3
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	86
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	87	#define Beckhoff_EL2004 0x00000002, 0x07D43052
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	88	#define Beckhoff_EL3152 0x00000002, 0x0c503052
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	89	#define Beckhoff_EL4102 0x00000002, 0x10063052
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	90
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	91	// offsets for PDO entries
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	92	static unsigned int off_ana_in;
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	93	static unsigned int off_ana_out;
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	94	static unsigned int off_dig_out;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	95
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	96	const static ec_pdo_entry_reg_t domain1_regs[] = {
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	97	#if EL3152_ALT_PDOS
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	98	{AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	99	#else
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	100	{AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	101	#endif
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	102	{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	103	{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	104	{}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	105	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	106
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	107	static unsigned int counter = 0;
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	108	static unsigned int blink = 0;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	109
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	110	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	111
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	112	#if CONFIGURE_PDOS
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	113
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	114	// Analog in --------------------------
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	115
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	116	static ec_pdo_entry_info_t el3152_pdo_entries[] = {
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	117	{0x3101, 1, 8}, // channel 1 status
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	118	{0x3101, 2, 16}, // channel 1 value
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	119	{0x3102, 1, 8}, // channel 2 status
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	120	{0x3102, 2, 16}, // channel 2 value
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	121	{0x6401, 1, 16}, // channel 1 value (alt.)
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	122	{0x6401, 2, 16} // channel 2 value (alt.)
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	123	};
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	124
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	125	#if EL3152_ALT_PDOS
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	126	static ec_pdo_info_t el3152_pdos[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	127	{0x1A10, 2, el3152_pdo_entries + 4},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	128	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	129
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	130	static ec_sync_info_t el3152_syncs[] = {
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	131	{2, EC_DIR_OUTPUT},
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	132	{3, EC_DIR_INPUT, 1, el3152_pdos},
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	133	{0xff}
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	134	};
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	135	#else
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	136	static ec_pdo_info_t el3152_pdos[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	137	{0x1A00, 2, el3152_pdo_entries},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	138	{0x1A01, 2, el3152_pdo_entries + 2}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	139	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	140
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	141	static ec_sync_info_t el3152_syncs[] = {
1061 90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	142	{2, EC_DIR_OUTPUT},
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	143	{3, EC_DIR_INPUT, 1, el3152_pdos},
1061 90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	144	{0xff}
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	145	};
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	146	#endif
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	147
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	148	// Analog out -------------------------
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	149
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	150	static ec_pdo_entry_info_t el4102_pdo_entries[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	151	{0x3001, 1, 16}, // channel 1 value
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	152	{0x3002, 1, 16}, // channel 2 value
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	153	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	154
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	155	static ec_pdo_info_t el4102_pdos[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	156	{0x1600, 1, el4102_pdo_entries},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	157	{0x1601, 1, el4102_pdo_entries + 1}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	158	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	159
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	160	static ec_sync_info_t el4102_syncs[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	161	{2, EC_DIR_OUTPUT, 2, el4102_pdos},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	162	{3, EC_DIR_INPUT},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	163	{0xff}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	164	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	165
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	166	// Digital out ------------------------
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	167
851 2bb18adcd204 Removed 'const' from Pdo configuration entries. Florian Pose <fp@igh-essen.com> parents: 846 diff changeset	168	static ec_pdo_entry_info_t el2004_channels[] = {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	169	{0x3001, 1, 1}, // Value 1
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	170	{0x3001, 2, 1}, // Value 2
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	171	{0x3001, 3, 1}, // Value 3
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	172	{0x3001, 4, 1} // Value 4
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	173	};
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	174
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 878 diff changeset	175	static ec_pdo_info_t el2004_pdos[] = {
1061 90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	176	{0x1600, 1, &el2004_channels[0]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	177	{0x1601, 1, &el2004_channels[1]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	178	{0x1602, 1, &el2004_channels[2]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	179	{0x1603, 1, &el2004_channels[3]}
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	180	};
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	181
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	182	static ec_sync_info_t el2004_syncs[] = {
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	183	{0, EC_DIR_OUTPUT, 4, el2004_pdos},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	184	{1, EC_DIR_INPUT},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	185	{0xff}
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	186	};
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	187	#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	188
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	189	/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	190
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	191	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	192	static ec_sdo_request_t *sdo;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	193	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	194
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	195	#if VOE_ACCESS
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	196	static ec_voe_handler_t *voe;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	197	#endif
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	198
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	199	/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	200
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	201	void check_domain1_state(void)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	202	{
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	203	ec_domain_state_t ds;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	204
1500 ed1a733efbc5 Improved the callback mechanism. Florian Pose <fp@igh-essen.com> parents: 1378 diff changeset	205	down(&master_sem);
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	206	ecrt_domain_state(domain1, &ds);
1500 ed1a733efbc5 Improved the callback mechanism. Florian Pose <fp@igh-essen.com> parents: 1378 diff changeset	207	up(&master_sem);
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	208
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	209	if (ds.working_counter != domain1_state.working_counter)
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	210	printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	211	if (ds.wc_state != domain1_state.wc_state)
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	212	printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	213
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	214	domain1_state = ds;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	215	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	216
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	217	/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	218
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	219	void check_master_state(void)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	220	{
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	221	ec_master_state_t ms;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	222
1500 ed1a733efbc5 Improved the callback mechanism. Florian Pose <fp@igh-essen.com> parents: 1378 diff changeset	223	down(&master_sem);
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	224	ecrt_master_state(master, &ms);
1500 ed1a733efbc5 Improved the callback mechanism. Florian Pose <fp@igh-essen.com> parents: 1378 diff changeset	225	up(&master_sem);
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	226
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	227	if (ms.slaves_responding != master_state.slaves_responding)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	228	printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	229	if (ms.al_states != master_state.al_states)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	230	printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	231	if (ms.link_up != master_state.link_up)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	232	printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	233
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	234	master_state = ms;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	235	}
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	236
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	237	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	238
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	239	void check_slave_config_states(void)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	240	{
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	241	ec_slave_config_state_t s;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	242
1500 ed1a733efbc5 Improved the callback mechanism. Florian Pose <fp@igh-essen.com> parents: 1378 diff changeset	243	down(&master_sem);
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	244	ecrt_slave_config_state(sc_ana_in, &s);
1500 ed1a733efbc5 Improved the callback mechanism. Florian Pose <fp@igh-essen.com> parents: 1378 diff changeset	245	up(&master_sem);
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	246
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	247	if (s.al_state != sc_ana_in_state.al_state)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	248	printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	249	if (s.online != sc_ana_in_state.online)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	250	printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	251	if (s.operational != sc_ana_in_state.operational)
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	252	printk(KERN_INFO PFX "AnaIn: %soperational.\n",
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	253	s.operational ? "" : "Not ");
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	254
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	255	sc_ana_in_state = s;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	256	}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	257
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	258	/*****************************************************************************/
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	259
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	260	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	261	void read_sdo(void)
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	262	{
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	263	switch (ecrt_sdo_request_state(sdo)) {
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	264	case EC_REQUEST_UNUSED: // request was not used yet
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	265	ecrt_sdo_request_read(sdo); // trigger first read
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	266	break;
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	267	case EC_REQUEST_BUSY:
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	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. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	278	break;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	279	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	280	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	281	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	282
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	283	/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	284
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	285	#if VOE_ACCESS
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> 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. Florian Pose <fp@igh-essen.com> 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();
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 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
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 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) {
1853f6c0b9b2 Removed IS_ERR() from minimal example. Florian Pose <fp@igh-essen.com> parents: 1363 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	/*****************************************************************************/

author	Andreas Stewering-Bone <ab@igh-essen.com>
	Thu, 03 Mar 2011 09:05:40 +0100
changeset 2053	cceb9aacf4a6
parent 1975	8e173dddd183
child 2024	96e2ae6cce95
child 2421	bc2d4bf9cbe5
permissions	-rw-r--r--