examples/mini/mini.c
author Florian Pose <fp@igh-essen.com>
Tue, 24 Oct 2006 08:09:42 +0000
changeset 437 ef80f2faa2c5
parent 416 4f007cd2a79d
child 446 8fede404c01f
permissions -rw-r--r--
Minot output changes in fsm.c
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/******************************************************************************
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 *
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 *  m i n i . c
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 *
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 *  Minimal module for EtherCAT.
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include <linux/timer.h>
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#include <linux/spinlock.h>
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#include <linux/interrupt.h>
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#include "../../include/ecrt.h" // EtherCAT realtime interface
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#include "../../include/ecdb.h" // EtherCAT slave database
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#define FREQUENCY 100
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/*****************************************************************************/
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struct timer_list timer;
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// EtherCAT
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ec_master_t *master = NULL;
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ec_domain_t *domain1 = NULL;
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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// data fields
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void *r_inputs;
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void *r_outputs;
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#if 0
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ec_pdo_reg_t domain1_pdos[] = {
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    {"2", Beckhoff_EL4132_Output1, &r_ana_out},
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    {"3", Beckhoff_EL5001_Value, NULL},
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    {}
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};
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#endif
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/*****************************************************************************/
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void run(unsigned long data)
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{
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    static unsigned int counter = 0;
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    static unsigned int einaus = 0;
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    spin_lock(&master_lock);
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    // receive
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    ecrt_master_receive(master);
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    ecrt_domain_process(domain1);
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    // process data
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    //k_pos = EC_READ_U32(r_ssi);
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    EC_WRITE_U8(r_outputs + 2, einaus ? 0xFF : 0x00);
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    // send
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    ecrt_master_run(master);
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    ecrt_master_send(master);
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    spin_unlock(&master_lock);
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    if (counter) {
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        counter--;
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    }
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    else {
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        counter = FREQUENCY;
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        einaus = !einaus;
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    }
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    // restart timer
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    timer.expires += HZ / FREQUENCY;
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    add_timer(&timer);
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}
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/*****************************************************************************/
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int request_lock(void *data)
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{
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    spin_lock_bh(&master_lock);
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    return 0; // access allowed
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}
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/*****************************************************************************/
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void release_lock(void *data)
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{
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    spin_unlock_bh(&master_lock);
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}
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/*****************************************************************************/
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int __init init_mini_module(void)
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{
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    //    ec_slave_t *slave;
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    printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
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    if ((master = ecrt_request_master(0)) == NULL) {
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        printk(KERN_ERR "Requesting master 0 failed!\n");
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        goto out_return;
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    }
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    ecrt_master_callbacks(master, request_lock, release_lock, NULL);
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    printk(KERN_INFO "Registering domain...\n");
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    if (!(domain1 = ecrt_master_create_domain(master)))
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    {
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        printk(KERN_ERR "Domain creation failed!\n");
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        goto out_release_master;
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    }
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    printk(KERN_INFO "Registering PDOs...\n");
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#if 0
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    if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
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        printk(KERN_ERR "PDO registration failed!\n");
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        goto out_release_master;
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    }
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#endif
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    if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
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                                        EC_DIR_OUTPUT, 0, 4, &r_outputs)) {
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        printk(KERN_ERR "PDO registration failed!\n");
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        goto out_release_master;
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    }
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    if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
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                                        EC_DIR_INPUT, 0, 4, &r_inputs)) {
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        printk(KERN_ERR "PDO registration failed!\n");
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        goto out_release_master;
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    }
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#if 0
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    if (!(slave = ecrt_master_get_slave(master, "3")))
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        goto out_release_master;
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    if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0))
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        goto out_release_master;
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#endif
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220
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    printk(KERN_INFO "Activating master...\n");
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    if (ecrt_master_activate(master)) {
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        printk(KERN_ERR "Failed to activate master!\n");
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        goto out_release_master;
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    }
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7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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    ecrt_master_prepare(master);
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    printk("Starting cyclic sample thread.\n");
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    init_timer(&timer);
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    timer.function = run;
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    timer.expires = jiffies + 10;
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    add_timer(&timer);
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    printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
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    return 0;
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 out_release_master:
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    ecrt_release_master(master);
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 out_return:
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    return -1;
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}
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/*****************************************************************************/
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void __exit cleanup_mini_module(void)
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{
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    printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
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    if (master) {
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        del_timer_sync(&timer);
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        printk(KERN_INFO "Deactivating master...\n");
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        ecrt_master_deactivate(master);
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        ecrt_release_master(master);
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    }
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    printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
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}
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/*****************************************************************************/
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MODULE_LICENSE("GPL");
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MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
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MODULE_DESCRIPTION ("EtherCAT minimal test environment");
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module_init(init_mini_module);
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module_exit(cleanup_mini_module);
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/*****************************************************************************/
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   219