etherlabmaster: examples/mini/mini.c@de880622f253 (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	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	12	* License, or (at your option) any later version.
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* 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	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 226 diff changeset	31	*
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	#include <linux/module.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	#include <linux/timer.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	#include <linux/spinlock.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include <linux/interrupt.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
223 daa5e5656b35 Applied new path information to example modules. Florian Pose <fp@igh-essen.com> parents: 220 diff changeset	39	#include "../../include/ecrt.h" // EtherCAT realtime interface
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	41	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	42
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	43	// Module parameters
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#define FREQUENCY 100
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	45
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	46	// Optional features
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	47	#define CONFIGURE_PDOS 1
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	48	#define EL3162_ALT_PDOS 0
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	49	#define EXTERNAL_MEMORY 1
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	50	#define SDO_ACCESS 0
457 2b4ba84b6058 Minor changes to minimal example. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	51
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	52	#define PFX "ec_mini: "
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	53
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	54	/*****************************************************************************/
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	55
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	// EtherCAT
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	57	static ec_master_t *master = NULL;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	58	static ec_master_state_t master_state = {};
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	59	spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	60
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	61	static ec_domain_t *domain1 = NULL;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	62	static ec_domain_state_t domain1_state = {};
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	63
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	64	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	65	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	66
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	67	// Timer
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	68	static struct timer_list timer;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	69
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	70	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	71
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	72	// process data
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	73	static uint8_t *domain1_pd; // process data memory
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 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	#define AnaInSlavePos 0, 1
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	76	#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	77
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	78	#define Beckhoff_EL2004 0x00000002, 0x07D43052
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	79	#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	80
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	81	static unsigned int off_ana_in; // offsets for Pdo entries
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	82	static unsigned int off_dig_out;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	83
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	84	const static ec_pdo_entry_reg_t domain1_regs[] = {
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	85	#if EL3162_ALT_PDOS
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	86	{AnaInSlavePos, Beckhoff_EL3162, 0x6401, 2, &off_ana_in},
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	87	#else
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	88	{AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	89	#endif
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	90	{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	91	{}
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	92	};
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	93
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	94	static unsigned int counter = 0;
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	95	static unsigned int blink = 0;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	96
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	97	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	98
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	99	#if CONFIGURE_PDOS
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	100
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	101	static ec_pdo_entry_info_t el3162_pdo_entries[] = {
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	102	{0x3101, 1, 8}, // channel 1 status
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	103	{0x3101, 2, 16}, // channel 1 value
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	104	{0x3102, 1, 8}, // channel 2 status
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	105	{0x3102, 2, 16}, // channel 2 value
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	106	{0x6401, 1, 16}, // channel 1 value (alt.)
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	107	{0x6401, 2, 16} // channel 2 value (alt.)
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	108	};
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	109
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	110	#if EL3162_ALT_PDOS
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 878 diff changeset	111	static ec_pdo_info_t el3162_pdos[] = {
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	112	{0x1A10, 2, el3162_pdo_entries + 4},
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	113	};
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	114
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	115	static ec_sync_info_t el3162_syncs[] = {
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	116	{2, EC_DIR_OUTPUT},
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	117	{3, EC_DIR_INPUT, 1, el3162_pdos},
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	118	{0xff}
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	119	};
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	120	#else
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	121	static ec_pdo_info_t el3162_pdos[] = {
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	122	{0x1A00, 2, el3162_pdo_entries},
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	123	{0x1A01, 2, el3162_pdo_entries + 2}
1061 90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	124	};
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	125
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	126	static ec_sync_info_t el3162_syncs[] = {
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	127	{2, EC_DIR_OUTPUT},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	128	{3, EC_DIR_INPUT, 2, el3162_pdos},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	129	{0xff}
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	130	};
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	131	#endif
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	132
851 2bb18adcd204 Removed 'const' from Pdo configuration entries. Florian Pose <fp@igh-essen.com> parents: 846 diff changeset	133	static ec_pdo_entry_info_t el2004_channels[] = {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	134	{0x3001, 1, 1}, // Value 1
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	135	{0x3001, 2, 1}, // Value 2
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	136	{0x3001, 3, 1}, // Value 3
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	137	{0x3001, 4, 1} // Value 4
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	138	};
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	139
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 878 diff changeset	140	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	141	{0x1600, 1, &el2004_channels[0]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	142	{0x1601, 1, &el2004_channels[1]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	143	{0x1602, 1, &el2004_channels[2]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	144	{0x1603, 1, &el2004_channels[3]}
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	145	};
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	146
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	147	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	148	{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	149	{1, EC_DIR_INPUT},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	150	{0xff}
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	151	};
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	152	#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	153
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	154	/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	155
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	156	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	157	static ec_sdo_request_t *sdo;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	158	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	159
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	160	/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	161
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	162	void check_domain1_state(void)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	163	{
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	164	ec_domain_state_t ds;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	165
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	166	spin_lock(&master_lock);
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	167	ecrt_domain_state(domain1, &ds);
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	168	spin_unlock(&master_lock);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	169
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	170	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	171	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	172	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	173	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	174
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	175	domain1_state = ds;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	176	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	177
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	178	/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	179
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	180	void check_master_state(void)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	181	{
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	182	ec_master_state_t ms;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	183
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	184	spin_lock(&master_lock);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	185	ecrt_master_state(master, &ms);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	186	spin_unlock(&master_lock);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	187
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	188	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	189	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	190	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	191	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	192	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	193	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	194
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	195	master_state = ms;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	196	}
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	197
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	199
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	200	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	201	{
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	202	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	203
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	204	spin_lock(&master_lock);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	205	ecrt_slave_config_state(sc_ana_in, &s);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	206	spin_unlock(&master_lock);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	207
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	208	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	209	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	210	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	211	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	212	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	213	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	214	s.operational ? "" : "Not ");
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	215
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	216	sc_ana_in_state = s;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	217	}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	218
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	219	/*****************************************************************************/
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	220
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	221	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	222	void read_sdo(void)
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	223	{
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	224	switch (ecrt_sdo_request_state(sdo)) {
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	225	case EC_SDO_REQUEST_UNUSED: // request was not used yet
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	226	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	227	break;
861 6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	228	case EC_SDO_REQUEST_BUSY:
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	229	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	230	break;
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	231	case EC_SDO_REQUEST_SUCCESS:
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	232	printk(KERN_INFO PFX "Sdo value: 0x%04X\n",
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	233	EC_READ_U16(ecrt_sdo_request_data(sdo)));
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	234	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	235	break;
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again; Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	236	case EC_SDO_REQUEST_ERROR:
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	237	printk(KERN_INFO PFX "Failed to read Sdo!\n");
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	238	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	239	break;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	240	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	241	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	242	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	243
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	244	/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	245
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	246	void cyclic_task(unsigned long data)
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	247	{
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	248	// receive process data
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	spin_lock(&master_lock);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 280 diff changeset	250	ecrt_master_receive(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	ecrt_domain_process(domain1);
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	252	spin_unlock(&master_lock);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	253
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	254	// check process data state (optional)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	255	check_domain1_state();
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	256
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	257	if (counter) {
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	258	counter--;
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	259	} else { // do this at 1 Hz
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	260	counter = FREQUENCY;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	261
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	262	// calculate new process data
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	263	blink = !blink;
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	264
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	265	// check for master state (optional)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	266	check_master_state();
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	267
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	268	// 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	269	check_slave_config_states();
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	270
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	271	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	272	// read process data Sdo
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	273	read_sdo();
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	274	#endif
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	275	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	276
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	277	// write process data
846 19248bbf9308 Cross blinking. Florian Pose <fp@igh-essen.com> parents: 820 diff changeset	278	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	279
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	280	// send process data
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	281	spin_lock(&master_lock);
509 87baea61d0c7 Adjusted examples to 1.2.0 interface changes. Florian Pose <fp@igh-essen.com> parents: 472 diff changeset	282	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	283	ecrt_master_send(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	spin_unlock(&master_lock);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	285
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	// restart timer
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	timer.expires += HZ / FREQUENCY;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	add_timer(&timer);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	290
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	292
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	int request_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	{
516 f703e33ee395 Adjusted examples to EtherLab starter kit hardware. Florian Pose <fp@igh-essen.com> parents: 513 diff changeset	295	spin_lock(&master_lock);
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	296	return 0; // access allowed
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	297	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	298
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	299	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	300
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	void release_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	{
516 f703e33ee395 Adjusted examples to EtherLab starter kit hardware. Florian Pose <fp@igh-essen.com> parents: 513 diff changeset	303	spin_unlock(&master_lock);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	305
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	307
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	int __init init_mini_module(void)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	{
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	310	#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	311	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	312	#endif
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	313	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	314	unsigned int size;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	315	#endif
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	316
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	317	printk(KERN_INFO PFX "Starting...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	318
509 87baea61d0c7 Adjusted examples to 1.2.0 interface changes. Florian Pose <fp@igh-essen.com> parents: 472 diff changeset	319	if (!(master = ecrt_request_master(0))) {
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	320	printk(KERN_ERR PFX "Requesting master 0 failed!\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	goto out_return;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	323
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	324	ecrt_master_callbacks(master, request_lock, release_lock, NULL);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	325
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	326	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	327	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	328	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	329	goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	330	}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	331
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	332	if (!(sc_ana_in = ecrt_master_slave_config(
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	333	master, AnaInSlavePos, Beckhoff_EL3162))) {
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	334	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	335	goto out_release_master;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	336	}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	337
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	338	#if CONFIGURE_PDOS
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 878 diff changeset	339	printk(KERN_INFO PFX "Configuring Pdos...\n");
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1080 diff changeset	340	if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 878 diff changeset	341	printk(KERN_ERR PFX "Failed to configure Pdos.\n");
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	342	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	343	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	344
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	345	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	346	master, DigOutSlavePos, Beckhoff_EL2004))) {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	347	printk(KERN_ERR PFX "Failed to get slave configuration.\n");
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	348	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	349	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	350
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1080 diff changeset	351	if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 878 diff changeset	352	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	353	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	354	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	355	#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	356
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	357	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	358	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	359	if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	360	printk(KERN_ERR PFX "Failed to create Sdo request.\n");
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	361	goto out_release_master;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	362	}
1026 021b8cdeb384 Minor changes to minimal example. Florian Pose <fp@igh-essen.com> parents: 1022 diff changeset	363	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	364	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	365
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	366	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	367	if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	368	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	369	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	370	}
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	371
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	372	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	373	if ((size = ecrt_domain_size(domain1))) {
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	374	if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	375	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	376	" memory!\n", size);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	377	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	378	}
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	379	ecrt_domain_external_memory(domain1, domain1_pd);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	380	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	381	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	382
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	383	printk(KERN_INFO PFX "Activating master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	384	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	385	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	386	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	387	goto out_free_process_data;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	388	#else
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	389	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	390	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	391	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	392
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	393	#if !EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	394	// Get internal process data for domain
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	395	domain1_pd = ecrt_domain_data(domain1);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	396	#endif
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	397
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	398	printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	399	init_timer(&timer);
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	400	timer.function = cyclic_task;
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	401	timer.expires = jiffies + 10;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	402	add_timer(&timer);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	403
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	404	printk(KERN_INFO PFX "Started.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	405	return 0;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	406
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	407	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	408	out_free_process_data:
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	409	kfree(domain1_pd);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	410	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	411	out_release_master:
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	412	printk(KERN_ERR PFX "Releasing master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	413	ecrt_release_master(master);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	414	out_return:
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	415	printk(KERN_ERR PFX "Failed to load. Aborting.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	416	return -1;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	417	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	418
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	419	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	420
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	421	void __exit cleanup_mini_module(void)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	422	{
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	423	printk(KERN_INFO PFX "Stopping...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	424
449 3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	425	del_timer_sync(&timer);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	426
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	427	#if EXTERNAL_MEMORY
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	428	kfree(domain1_pd);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	429	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	430
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	431	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	432	ecrt_release_master(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	433
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	434	printk(KERN_INFO PFX "Unloading.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	435	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	436
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	437	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	438
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	439	MODULE_LICENSE("GPL");
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	440	MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	441	MODULE_DESCRIPTION("EtherCAT minimal test environment");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	442
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	443	module_init(init_mini_module);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	444	module_exit(cleanup_mini_module);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	445
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	446	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 29 Jul 2008 11:37:29 +0000
changeset 1171	de880622f253
parent 1082	ff06c58e269c
child 1179	c0e6adec1aee
permissions	-rw-r--r--