etherlabmaster: examples/mini/mini.c@e5756d4ed12c (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	*
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	22	* Using the EtherCAT technology and brand is permitted in compliance with
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	23	* the 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	24	*
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	26
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	#include <linux/module.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	#include <linux/timer.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	#include <linux/spinlock.h>
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	#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	31	#include <linux/err.h>
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	32
223 daa5e5656b35 Applied new path information to example modules. Florian Pose <fp@igh-essen.com> parents: 220 diff changeset	33	#include "../../include/ecrt.h" // EtherCAT realtime interface
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	35	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	36
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	37	// Module parameters
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#define FREQUENCY 100
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	39
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	40	// Optional features
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	41	#define CONFIGURE_PDOS 1
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	42	#define EL3152_ALT_PDOS 0
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	43	#define EXTERNAL_MEMORY 1
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	44	#define SDO_ACCESS 0
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	45	#define VOE_ACCESS 0
457 2b4ba84b6058 Minor changes to minimal example. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	46
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	47	#define PFX "ec_mini: "
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	/*****************************************************************************/
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	50
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	// EtherCAT
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	52	static ec_master_t *master = NULL;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	53	static ec_master_state_t master_state = {};
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	54	spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	55
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	56	static ec_domain_t *domain1 = NULL;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	57	static ec_domain_state_t domain1_state = {};
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	58
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	59	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	60	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	61
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	62	// Timer
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	63	static struct timer_list timer;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	64
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	65	/*****************************************************************************/
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	66
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	67	// process data
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	68	static uint8_t *domain1_pd; // process data memory
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	69
1212 d634ed3a9b94 mini top. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	70	#define AnaInSlavePos 0, 2
d634ed3a9b94 mini top. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	71	#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	72	#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	73
088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	74	#define Beckhoff_EL2004 0x00000002, 0x07D43052
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	75	#define Beckhoff_EL3152 0x00000002, 0x0c503052
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	76	#define Beckhoff_EL4102 0x00000002, 0x10063052
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	77
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	78	// offsets for PDO entries
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	79	static unsigned int off_ana_in;
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	80	static unsigned int off_ana_out;
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	81	static unsigned int off_dig_out;
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	82
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	83	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	84	#if EL3152_ALT_PDOS
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	85	{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	86	#else
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	87	{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	88	#endif
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	89	{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	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
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	101	// Analog in --------------------------
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	102
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	103	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	104	{0x3101, 1, 8}, // channel 1 status
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	105	{0x3101, 2, 16}, // channel 1 value
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	106	{0x3102, 1, 8}, // channel 2 status
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	107	{0x3102, 2, 16}, // channel 2 value
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	108	{0x6401, 1, 16}, // channel 1 value (alt.)
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	109	{0x6401, 2, 16} // channel 2 value (alt.)
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	110	};
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	111
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	112	#if EL3152_ALT_PDOS
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	113	static ec_pdo_info_t el3152_pdos[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	114	{0x1A10, 2, el3152_pdo_entries + 4},
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
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	117	static ec_sync_info_t el3152_syncs[] = {
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	118	{2, EC_DIR_OUTPUT},
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	119	{3, EC_DIR_INPUT, 1, el3152_pdos},
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	120	{0xff}
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	121	};
de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	122	#else
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	123	static ec_pdo_info_t el3152_pdos[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	124	{0x1A00, 2, el3152_pdo_entries},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	125	{0x1A01, 2, el3152_pdo_entries + 2}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	126	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	127
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	128	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	129	{2, EC_DIR_OUTPUT},
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	130	{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	131	{0xff}
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	132	};
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	133	#endif
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	134
1179 c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	135	// Analog out -------------------------
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	136
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	137	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	138	{0x3001, 1, 16}, // channel 1 value
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	139	{0x3002, 1, 16}, // channel 2 value
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
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	142	static ec_pdo_info_t el4102_pdos[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	143	{0x1600, 1, el4102_pdo_entries},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	144	{0x1601, 1, el4102_pdo_entries + 1}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	145	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	146
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	147	static ec_sync_info_t el4102_syncs[] = {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	148	{2, EC_DIR_OUTPUT, 2, el4102_pdos},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	149	{3, EC_DIR_INPUT},
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	150	{0xff}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	151	};
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	152
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	153	// Digital out ------------------------
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	154
851 2bb18adcd204 Removed 'const' from Pdo configuration entries. Florian Pose <fp@igh-essen.com> parents: 846 diff changeset	155	static ec_pdo_entry_info_t el2004_channels[] = {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	156	{0x3001, 1, 1}, // Value 1
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	157	{0x3001, 2, 1}, // Value 2
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	158	{0x3001, 3, 1}, // Value 3
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	159	{0x3001, 4, 1} // Value 4
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	160	};
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	161
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 878 diff changeset	162	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	163	{0x1600, 1, &el2004_channels[0]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	164	{0x1601, 1, &el2004_channels[1]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	165	{0x1602, 1, &el2004_channels[2]},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	166	{0x1603, 1, &el2004_channels[3]}
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	167	};
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	168
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	169	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	170	{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	171	{1, EC_DIR_INPUT},
90c3d75057e4 Adapted minimal example to sync manager configuration interface. Florian Pose <fp@igh-essen.com> parents: 1027 diff changeset	172	{0xff}
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	173	};
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	174	#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	175
818 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
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	178	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	179	static ec_sdo_request_t *sdo;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	180	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	181
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	182	#if VOE_ACCESS
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	183	static ec_voe_handler_t *voe;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	184	#endif
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	185
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	186	/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	187
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	188	void check_domain1_state(void)
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	ec_domain_state_t ds;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	191
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	192	spin_lock(&master_lock);
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	193	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	194	spin_unlock(&master_lock);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	195
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	196	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	197	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	198	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	199	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	200
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	201	domain1_state = ds;
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
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	204	/*****************************************************************************/
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	205
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	206	void check_master_state(void)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	207	{
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	208	ec_master_state_t ms;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	209
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	210	spin_lock(&master_lock);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	211	ecrt_master_state(master, &ms);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	212	spin_unlock(&master_lock);
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	213
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	214	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	215	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	216	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	217	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	218	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	219	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	220
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	221	master_state = ms;
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	222	}
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	223
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	225
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	226	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	227	{
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	228	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	229
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	230	spin_lock(&master_lock);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	231	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	232	spin_unlock(&master_lock);
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	233
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	234	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	235	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	236	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	237	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	238	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	239	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	240	s.operational ? "" : "Not ");
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	241
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	242	sc_ana_in_state = s;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	243	}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	244
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	245	/*****************************************************************************/
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	246
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	247	#if SDO_ACCESS
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	248	void read_sdo(void)
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	249	{
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	250	switch (ecrt_sdo_request_state(sdo)) {
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	251	case EC_REQUEST_UNUSED: // request was not used yet
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	252	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	253	break;
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	254	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	255	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	256	break;
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	257	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	258	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	259	EC_READ_U16(ecrt_sdo_request_data(sdo)));
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	260	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	261	break;
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	262	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	263	printk(KERN_INFO PFX "Failed to read SDO!\n");
867 93a0180ee938 Minor changes. Florian Pose <fp@igh-essen.com> parents: 861 diff changeset	264	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	265	break;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	266	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	267	}
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	268	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	269
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	270	/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	271
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	272	#if VOE_ACCESS
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	273	void read_voe(void)
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	274	{
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	275	switch (ecrt_voe_handler_execute(voe)) {
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	276	case EC_REQUEST_UNUSED:
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	277	ecrt_voe_handler_read(voe); // trigger first read
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	278	break;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	279	case EC_REQUEST_BUSY:
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	280	printk(KERN_INFO PFX "VoE read still busy...\n");
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	281	break;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	282	case EC_REQUEST_SUCCESS:
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	283	printk(KERN_INFO PFX "VoE received.\n");
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	284	// get data via ecrt_voe_handler_data(voe)
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	285	ecrt_voe_handler_read(voe); // trigger next read
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	286	break;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	287	case EC_REQUEST_ERROR:
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	288	printk(KERN_INFO PFX "Failed to read VoE data!\n");
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	289	ecrt_voe_handler_read(voe); // retry reading
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	290	break;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	291	}
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	292	}
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	293	#endif
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	294
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	295	/*****************************************************************************/
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	296
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	297	void cyclic_task(unsigned long data)
f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	298	{
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	299	// receive process data
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	300	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	301	ecrt_master_receive(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	ecrt_domain_process(domain1);
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	303	spin_unlock(&master_lock);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	304
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	305	// check process data state (optional)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	306	check_domain1_state();
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	307
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	308	if (counter) {
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	309	counter--;
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	310	} else { // do this at 1 Hz
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	311	counter = FREQUENCY;
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	312
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	313	// calculate new process data
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	314	blink = !blink;
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	315
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	316	// check for master state (optional)
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	317	check_master_state();
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	318
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	319	// 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	320	check_slave_config_states();
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	321
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	322	#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	323	// read process data SDO
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	324	read_sdo();
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	325	#endif
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	326
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	327	#if VOE_ACCESS
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	328	read_voe();
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	329	#endif
818 b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	330	}
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	331
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	332	// write process data
846 19248bbf9308 Cross blinking. Florian Pose <fp@igh-essen.com> parents: 820 diff changeset	333	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	334
b6c87ae254c9 Calculate expected working counter for domains. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	335	// send process data
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	336	spin_lock(&master_lock);
509 87baea61d0c7 Adjusted examples to 1.2.0 interface changes. Florian Pose <fp@igh-essen.com> parents: 472 diff changeset	337	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	338	ecrt_master_send(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	spin_unlock(&master_lock);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	340
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	// restart timer
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	timer.expires += HZ / FREQUENCY;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	343	add_timer(&timer);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	344	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	345
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	347
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	int request_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	{
516 f703e33ee395 Adjusted examples to EtherLab starter kit hardware. Florian Pose <fp@igh-essen.com> parents: 513 diff changeset	350	spin_lock(&master_lock);
226 07247920a7ba EoE with workqueue; bugfix in ec_master_init() Florian Pose <fp@igh-essen.com> parents: 223 diff changeset	351	return 0; // access allowed
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	}
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	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	355
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	356	void release_lock(void *data)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	{
516 f703e33ee395 Adjusted examples to EtherLab starter kit hardware. Florian Pose <fp@igh-essen.com> parents: 513 diff changeset	358	spin_unlock(&master_lock);
220 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
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	361	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	362
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	363	int __init init_mini_module(void)
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	364	{
1239 b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	365	int ret = -1;
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	366	#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	367	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	368	#endif
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	369	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	370	unsigned int size;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	371	#endif
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	372
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	373	printk(KERN_INFO PFX "Starting...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	374
1239 b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	375	master = ecrt_request_master(0);
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	376	if (IS_ERR(master)) {
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	377	ret = PTR_ERR(master);
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master(). Florian Pose <fp@igh-essen.com> parents: 1212 diff changeset	378	printk(KERN_ERR PFX "Requesting master 0 failed.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	379	goto out_return;
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
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	382	ecrt_master_callbacks(master, request_lock, release_lock, NULL);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	383
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	384	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	385	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	386	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	387	goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	388	}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	389
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	390	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	391	master, AnaInSlavePos, Beckhoff_EL3152))) {
1022 8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	392	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	393	goto out_release_master;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	394	}
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in Florian Pose <fp@igh-essen.com> parents: 909 diff changeset	395
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	396	#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	397	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	398	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	399	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	400	goto out_release_master;
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	401	}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	402
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	403	if (!(sc = ecrt_master_slave_config(
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	404	master, AnaOutSlavePos, Beckhoff_EL4102))) {
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	405	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	406	goto out_release_master;
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	407	}
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	408
c0e6adec1aee Added analog output to minimal example. Florian Pose <fp@igh-essen.com> parents: 1171 diff changeset	409	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	410	printk(KERN_ERR PFX "Failed to configure PDOs.\n");
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	411	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	412	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	413
1080 088a61306930 Removed MSR example; adapted RTAI example; README files for examples. Florian Pose <fp@igh-essen.com> parents: 1061 diff changeset	414	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	415	master, DigOutSlavePos, Beckhoff_EL2004))) {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	416	printk(KERN_ERR PFX "Failed to get slave configuration.\n");
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	417	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	418	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	419
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1080 diff changeset	420	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	421	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	422	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	423	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	424	#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 654 diff changeset	425
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	426	#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	427	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	428	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	429	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	430	goto out_release_master;
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	431	}
1026 021b8cdeb384 Minor changes to minimal example. Florian Pose <fp@igh-essen.com> parents: 1022 diff changeset	432	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	433	#endif
69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 851 diff changeset	434
1209 8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	435	#if VOE_ACCESS
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	436	printk(KERN_INFO PFX "Creating VoE handlers...\n");
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	437	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	438	printk(KERN_ERR PFX "Failed to create VoE handler.\n");
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	439	goto out_release_master;
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	440	}
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	441	#endif
8be462afb7f4 Added VoE handler. Florian Pose <fp@igh-essen.com> parents: 1179 diff changeset	442
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	443	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	444	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	445	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	446	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	447	}
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	448
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	449	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	450	if ((size = ecrt_domain_size(domain1))) {
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	451	if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	452	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	453	" memory!\n", size);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	454	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	455	}
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	456	ecrt_domain_external_memory(domain1, domain1_pd);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	457	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	458	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	459
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	460	printk(KERN_INFO PFX "Activating master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	461	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	462	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	463	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	464	goto out_free_process_data;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	465	#else
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	466	goto out_release_master;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	467	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	468	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	469
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	470	#if !EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	471	// Get internal process data for domain
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	472	domain1_pd = ecrt_domain_data(domain1);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	473	#endif
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	474
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	475	printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	476	init_timer(&timer);
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	477	timer.function = cyclic_task;
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	478	timer.expires = jiffies + 10;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	479	add_timer(&timer);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	480
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	481	printk(KERN_INFO PFX "Started.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	482	return 0;
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	483
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	484	#if EXTERNAL_MEMORY
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	485	out_free_process_data:
820 f8e6f5966cce Cleaned up mini module. Florian Pose <fp@igh-essen.com> parents: 818 diff changeset	486	kfree(domain1_pd);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	487	#endif
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	488	out_release_master:
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	489	printk(KERN_ERR PFX "Releasing master...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	490	ecrt_release_master(master);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	491	out_return:
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	492	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	493	return ret;
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	494	}
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	495
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	496	/*****************************************************************************/
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	497
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	498	void __exit cleanup_mini_module(void)
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 "Stopping...\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	501
449 3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release(). Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	502	del_timer_sync(&timer);
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 799 diff changeset	503
1171 de880622f253 Alternative Pdo assignment for el3162. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	504	#if EXTERNAL_MEMORY
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
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 551 diff changeset	508	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	509	ecrt_release_master(master);
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	510
654 8278e1e27010 Minor changes in minimal example. Florian Pose <fp@igh-essen.com> parents: 643 diff changeset	511	printk(KERN_INFO PFX "Unloading.\n");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	512	}
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	MODULE_LICENSE("GPL");
512 24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	517	MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples. Florian Pose <fp@igh-essen.com> parents: 509 diff changeset	518	MODULE_DESCRIPTION("EtherCAT minimal test environment");
220 342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	519
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	520	module_init(init_mini_module);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	521	module_exit(cleanup_mini_module);
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	522
342ad851ec78 Added examples directory. Florian Pose <fp@igh-essen.com> parents: diff changeset	523	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 26 Jan 2009 16:35:50 +0000
changeset 1344	e5756d4ed12c
parent 1327	4d179b06dd3c
child 1363	11c0b2caa253
permissions	-rw-r--r--