author | Florian Pose <fp@igh-essen.com> |
Wed, 21 Feb 2007 12:41:25 +0000 | |
changeset 585 | dc1ea0099b4c |
parent 551 | ac230bbd1d76 |
child 612 | aede068f9a74 |
permissions | -rw-r--r-- |
220 | 1 |
/****************************************************************************** |
2 |
* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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25 |
* Licensee. People intending to distribute/sell products based on the |
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26 |
* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
220 | 32 |
*****************************************************************************/ |
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||
34 |
#include <linux/module.h> |
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35 |
#include <linux/timer.h> |
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36 |
#include <linux/spinlock.h> |
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37 |
#include <linux/interrupt.h> |
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38 |
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#include "../../include/ecrt.h" // EtherCAT realtime interface |
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#include "../../include/ecdb.h" // EtherCAT slave database |
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42 |
#define FREQUENCY 100 |
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//#define KBUS |
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/*****************************************************************************/ |
47 |
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48 |
struct timer_list timer; |
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49 |
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50 |
// EtherCAT |
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51 |
ec_master_t *master = NULL; |
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52 |
ec_domain_t *domain1 = NULL; |
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53 |
spinlock_t master_lock = SPIN_LOCK_UNLOCKED; |
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54 |
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55 |
// data fields |
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#ifdef KBUS |
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void *r_inputs; |
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void *r_outputs; |
446 | 59 |
#endif |
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void *r_dig_out; |
446 | 62 |
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63 |
#if 1 |
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ec_pdo_reg_t domain1_pdos[] = { |
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{"4", Beckhoff_EL2004_Outputs, &r_dig_out}, |
220 | 66 |
{} |
67 |
}; |
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#endif |
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/*****************************************************************************/ |
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72 |
void run(unsigned long data) |
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73 |
{ |
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static unsigned int counter = 0; |
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static unsigned int blink = 0; |
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// receive |
220 | 78 |
spin_lock(&master_lock); |
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ecrt_master_receive(master); |
220 | 80 |
ecrt_domain_process(domain1); |
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spin_unlock(&master_lock); |
220 | 82 |
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// process data |
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84 |
// k_pos = EC_READ_U32(r_ssi); |
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EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00); |
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if (counter) { |
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counter--; |
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} |
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else { |
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counter = FREQUENCY; |
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92 |
blink = !blink; |
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93 |
} |
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94 |
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95 |
#ifdef KBUS |
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96 |
EC_WRITE_U8(r_outputs + 2, blink ? 0xFF : 0x00); |
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#endif |
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98 |
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220 | 99 |
// send |
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100 |
spin_lock(&master_lock); |
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101 |
ecrt_domain_queue(domain1); |
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102 |
spin_unlock(&master_lock); |
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103 |
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220 | 104 |
ecrt_master_run(master); |
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105 |
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106 |
spin_lock(&master_lock); |
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107 |
ecrt_master_send(master); |
220 | 108 |
spin_unlock(&master_lock); |
109 |
||
110 |
// restart timer |
|
111 |
timer.expires += HZ / FREQUENCY; |
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112 |
add_timer(&timer); |
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113 |
} |
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114 |
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115 |
/*****************************************************************************/ |
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116 |
||
117 |
int request_lock(void *data) |
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118 |
{ |
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119 |
spin_lock(&master_lock); |
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120 |
return 0; // access allowed |
220 | 121 |
} |
122 |
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123 |
/*****************************************************************************/ |
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124 |
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125 |
void release_lock(void *data) |
|
126 |
{ |
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127 |
spin_unlock(&master_lock); |
220 | 128 |
} |
129 |
||
130 |
/*****************************************************************************/ |
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131 |
||
132 |
int __init init_mini_module(void) |
|
133 |
{ |
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134 |
#if 0 |
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135 |
ec_slave_t *slave; |
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136 |
#endif |
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137 |
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220 | 138 |
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); |
139 |
||
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|
140 |
if (!(master = ecrt_request_master(0))) { |
220 | 141 |
printk(KERN_ERR "Requesting master 0 failed!\n"); |
142 |
goto out_return; |
|
143 |
} |
|
144 |
||
145 |
ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
|
146 |
||
147 |
printk(KERN_INFO "Registering domain...\n"); |
|
509
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|
148 |
if (!(domain1 = ecrt_master_create_domain(master))) { |
220 | 149 |
printk(KERN_ERR "Domain creation failed!\n"); |
150 |
goto out_release_master; |
|
151 |
} |
|
152 |
||
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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153 |
printk(KERN_INFO "Registering PDOs...\n"); |
446 | 154 |
#if 1 |
325
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155 |
if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) { |
7833cf70c4f2
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|
156 |
printk(KERN_ERR "PDO registration failed!\n"); |
220 | 157 |
goto out_release_master; |
158 |
} |
|
416
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159 |
#endif |
446 | 160 |
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161 |
#ifdef KBUS |
416
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162 |
if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120, |
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163 |
EC_DIR_OUTPUT, 0, 4, &r_outputs)) { |
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164 |
printk(KERN_ERR "PDO registration failed!\n"); |
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165 |
goto out_release_master; |
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|
166 |
} |
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|
167 |
if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120, |
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168 |
EC_DIR_INPUT, 0, 4, &r_inputs)) { |
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|
169 |
printk(KERN_ERR "PDO registration failed!\n"); |
4f007cd2a79d
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170 |
goto out_release_master; |
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|
171 |
} |
446 | 172 |
#endif |
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4f007cd2a79d
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|
173 |
|
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174 |
#if 0 |
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|
175 |
if (!(slave = ecrt_master_get_slave(master, "2"))) |
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176 |
goto out_release_master; |
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|
177 |
|
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|
178 |
if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0)) |
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|
179 |
goto out_release_master; |
416
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|
180 |
#endif |
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|
181 |
|
220 | 182 |
printk(KERN_INFO "Activating master...\n"); |
183 |
if (ecrt_master_activate(master)) { |
|
184 |
printk(KERN_ERR "Failed to activate master!\n"); |
|
185 |
goto out_release_master; |
|
186 |
} |
|
187 |
||
188 |
printk("Starting cyclic sample thread.\n"); |
|
189 |
init_timer(&timer); |
|
190 |
timer.function = run; |
|
191 |
timer.expires = jiffies + 10; |
|
192 |
add_timer(&timer); |
|
193 |
||
194 |
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n"); |
|
195 |
return 0; |
|
196 |
||
197 |
out_release_master: |
|
198 |
ecrt_release_master(master); |
|
199 |
out_return: |
|
200 |
return -1; |
|
201 |
} |
|
202 |
||
203 |
/*****************************************************************************/ |
|
204 |
||
205 |
void __exit cleanup_mini_module(void) |
|
206 |
{ |
|
207 |
printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n"); |
|
208 |
||
449
3caf8ff4d8a2
Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
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|
209 |
del_timer_sync(&timer); |
3caf8ff4d8a2
Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
446
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changeset
|
210 |
printk(KERN_INFO "Releasing master...\n"); |
3caf8ff4d8a2
Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
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parents:
446
diff
changeset
|
211 |
ecrt_release_master(master); |
220 | 212 |
|
213 |
printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n"); |
|
214 |
} |
|
215 |
||
216 |
/*****************************************************************************/ |
|
217 |
||
218 |
MODULE_LICENSE("GPL"); |
|
512
24292123d174
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|
219 |
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>"); |
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
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220 |
MODULE_DESCRIPTION("EtherCAT minimal test environment"); |
220 | 221 |
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module_init(init_mini_module); |
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module_exit(cleanup_mini_module); |
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/*****************************************************************************/ |