examples/mini/mini.c
author Florian Pose <fp@igh-essen.com>
Wed, 05 Nov 2008 10:44:42 +0000
branchstable-1.4
changeset 1659 f04865a2454f
parent 1179 c0e6adec1aee
child 1209 8be462afb7f4
child 1685 399ef727bf62
permissions -rw-r--r--
merge -c1541 trunk: Userspace applications (excerpts).
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/******************************************************************************
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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/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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/*****************************************************************************/
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// Module parameters
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#define FREQUENCY 100
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// Optional features
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#define CONFIGURE_PDOS  1
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#define EL3152_ALT_PDOS 0
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#define EXTERNAL_MEMORY 1
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#define SDO_ACCESS      0
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#define PFX "ec_mini: "
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/*****************************************************************************/
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_master_state_t master_state = {};
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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static ec_domain_t *domain1 = NULL;
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static ec_domain_state_t domain1_state = {};
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static ec_slave_config_t *sc_ana_in = NULL;
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static ec_slave_config_state_t sc_ana_in_state = {};
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// Timer
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static struct timer_list timer;
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/*****************************************************************************/
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// process data
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static uint8_t *domain1_pd; // process data memory
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#define AnaInSlavePos  0, 1
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#define AnaOutSlavePos 0, 2
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#define DigOutSlavePos 0, 3
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#define Beckhoff_EL2004 0x00000002, 0x07D43052
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#define Beckhoff_EL3152 0x00000002, 0x0c503052
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#define Beckhoff_EL4102 0x00000002, 0x10063052
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// offsets for Pdo entries
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static unsigned int off_ana_in;
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static unsigned int off_ana_out;
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static unsigned int off_dig_out;
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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#if EL3152_ALT_PDOS
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    {AnaInSlavePos,  Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
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#else
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    {AnaInSlavePos,  Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
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#endif
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    {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
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    {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
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    {}
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};
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static unsigned int counter = 0;
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static unsigned int blink = 0;
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/*****************************************************************************/
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#if CONFIGURE_PDOS
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// Analog in --------------------------
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static ec_pdo_entry_info_t el3152_pdo_entries[] = {
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    {0x3101, 1,  8}, // channel 1 status
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    {0x3101, 2, 16}, // channel 1 value
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    {0x3102, 1,  8}, // channel 2 status
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    {0x3102, 2, 16}, // channel 2 value
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    {0x6401, 1, 16}, // channel 1 value (alt.)
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    {0x6401, 2, 16}  // channel 2 value (alt.)
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};
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#if EL3152_ALT_PDOS
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static ec_pdo_info_t el3152_pdos[] = {
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    {0x1A10, 2, el3152_pdo_entries + 4},
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};
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static ec_sync_info_t el3152_syncs[] = {
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    {2, EC_DIR_OUTPUT},
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    {3, EC_DIR_INPUT, 1, el3152_pdos},
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    {0xff}
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};
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#else
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static ec_pdo_info_t el3152_pdos[] = {
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    {0x1A00, 2, el3152_pdo_entries},
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    {0x1A01, 2, el3152_pdo_entries + 2}
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};
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static ec_sync_info_t el3152_syncs[] = {
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    {2, EC_DIR_OUTPUT},
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    {3, EC_DIR_INPUT, 1, el3152_pdos},
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    {0xff}
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};
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#endif
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// Analog out -------------------------
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static ec_pdo_entry_info_t el4102_pdo_entries[] = {
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    {0x3001, 1, 16}, // channel 1 value
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    {0x3002, 1, 16}, // channel 2 value
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};
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static ec_pdo_info_t el4102_pdos[] = {
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    {0x1600, 1, el4102_pdo_entries},
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    {0x1601, 1, el4102_pdo_entries + 1}
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};
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static ec_sync_info_t el4102_syncs[] = {
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    {2, EC_DIR_OUTPUT, 2, el4102_pdos},
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    {3, EC_DIR_INPUT},
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    {0xff}
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};
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// Digital out ------------------------
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static ec_pdo_entry_info_t el2004_channels[] = {
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    {0x3001, 1, 1}, // Value 1
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    {0x3001, 2, 1}, // Value 2
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    {0x3001, 3, 1}, // Value 3
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    {0x3001, 4, 1}  // Value 4
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};
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static ec_pdo_info_t el2004_pdos[] = {
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    {0x1600, 1, &el2004_channels[0]},
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    {0x1601, 1, &el2004_channels[1]},
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    {0x1602, 1, &el2004_channels[2]},
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    {0x1603, 1, &el2004_channels[3]}
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};
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static ec_sync_info_t el2004_syncs[] = {
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    {0, EC_DIR_OUTPUT, 4, el2004_pdos},
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    {1, EC_DIR_INPUT},
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    {0xff}
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};
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#endif
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/*****************************************************************************/
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#if SDO_ACCESS
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static ec_sdo_request_t *sdo;
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#endif
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/*****************************************************************************/
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void check_domain1_state(void)
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{
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    ec_domain_state_t ds;
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    spin_lock(&master_lock);
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    ecrt_domain_state(domain1, &ds);
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    spin_unlock(&master_lock);
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    if (ds.working_counter != domain1_state.working_counter)
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        printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
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    if (ds.wc_state != domain1_state.wc_state)
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        printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
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    domain1_state = ds;
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}
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/*****************************************************************************/
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void check_master_state(void)
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{
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    ec_master_state_t ms;
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    spin_lock(&master_lock);
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    ecrt_master_state(master, &ms);
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    spin_unlock(&master_lock);
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    if (ms.slaves_responding != master_state.slaves_responding)
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        printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
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    if (ms.al_states != master_state.al_states)
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        printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
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    if (ms.link_up != master_state.link_up)
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        printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
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    master_state = ms;
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}
220
342ad851ec78 Added examples directory.
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342ad851ec78 Added examples directory.
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/*****************************************************************************/
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1022
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void check_slave_config_states(void)
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{
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    ec_slave_config_state_t s;
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    spin_lock(&master_lock);
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    ecrt_slave_config_state(sc_ana_in, &s);
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    spin_unlock(&master_lock);
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   234
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
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    if (s.al_state != sc_ana_in_state.al_state)
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        printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
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    if (s.online != sc_ana_in_state.online)
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        printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
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   239
    if (s.operational != sc_ana_in_state.operational)
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   240
        printk(KERN_INFO PFX "AnaIn: %soperational.\n",
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                s.operational ? "" : "Not ");
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   242
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    sc_ana_in_state = s;
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   244
}
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8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
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   246
/*****************************************************************************/
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   247
1171
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   248
#if SDO_ACCESS
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void read_sdo(void)
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{
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    switch (ecrt_sdo_request_state(sdo)) {
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        case EC_SDO_REQUEST_UNUSED: // request was not used yet
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            ecrt_sdo_request_read(sdo); // trigger first read
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            break;
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        case EC_SDO_REQUEST_BUSY:
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            printk(KERN_INFO PFX "Still busy...\n");
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            break;
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   258
        case EC_SDO_REQUEST_SUCCESS:
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   259
            printk(KERN_INFO PFX "Sdo value: 0x%04X\n",
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                    EC_READ_U16(ecrt_sdo_request_data(sdo)));
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93a0180ee938 Minor changes.
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   261
            ecrt_sdo_request_read(sdo); // trigger next read
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
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            break;
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   263
        case EC_SDO_REQUEST_ERROR:
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   264
            printk(KERN_INFO PFX "Failed to read Sdo!\n");
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   265
            ecrt_sdo_request_read(sdo); // retry reading
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            break;
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   267
    }
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}
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#endif
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diff changeset
   271
/*****************************************************************************/
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parents: 851
diff changeset
   272
820
f8e6f5966cce Cleaned up mini module.
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parents: 818
diff changeset
   273
void cyclic_task(unsigned long data)
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   274
{
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   275
    // receive process data
220
342ad851ec78 Added examples directory.
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parents:
diff changeset
   276
    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
   277
    ecrt_master_receive(master);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   278
    ecrt_domain_process(domain1);
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   279
    spin_unlock(&master_lock);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   280
818
b6c87ae254c9 Calculate expected working counter for domains.
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parents: 814
diff changeset
   281
    // check process data state (optional)
b6c87ae254c9 Calculate expected working counter for domains.
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parents: 814
diff changeset
   282
    check_domain1_state();
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   283
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   284
    if (counter) {
24292123d174 Shorter critical sections in examples.
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parents: 509
diff changeset
   285
        counter--;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   286
    } else { // do this at 1 Hz
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   287
        counter = FREQUENCY;
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   288
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   289
        // calculate new process data
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   290
        blink = !blink;
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   291
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   292
        // check for master state (optional)
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   293
        check_master_state();
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   294
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   295
        // 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
   296
        check_slave_config_states();
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   297
        
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   298
#if SDO_ACCESS
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   299
        // read process data Sdo
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   300
        read_sdo();
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   301
#endif
818
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   302
    }
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   303
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   304
    // write process data
846
19248bbf9308 Cross blinking.
Florian Pose <fp@igh-essen.com>
parents: 820
diff changeset
   305
    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
   306
b6c87ae254c9 Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   307
    // send process data
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   308
    spin_lock(&master_lock);
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents: 472
diff changeset
   309
    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
   310
    ecrt_master_send(master);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
    spin_unlock(&master_lock);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   312
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   313
    // restart timer
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
    timer.expires += HZ / FREQUENCY;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
    add_timer(&timer);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   316
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   318
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   319
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   320
int request_lock(void *data)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
{
516
f703e33ee395 Adjusted examples to EtherLab starter kit hardware.
Florian Pose <fp@igh-essen.com>
parents: 513
diff changeset
   322
    spin_lock(&master_lock);
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 223
diff changeset
   323
    return 0; // access allowed
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   325
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   326
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   328
void release_lock(void *data)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   329
{
516
f703e33ee395 Adjusted examples to EtherLab starter kit hardware.
Florian Pose <fp@igh-essen.com>
parents: 513
diff changeset
   330
    spin_unlock(&master_lock);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   331
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
int __init init_mini_module(void)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
{
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   337
#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
   338
    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
   339
#endif
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   340
#if EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   341
    unsigned int size;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   342
#endif
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   343
    
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   344
    printk(KERN_INFO PFX "Starting...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents: 472
diff changeset
   346
    if (!(master = ecrt_request_master(0))) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   347
        printk(KERN_ERR PFX "Requesting master 0 failed!\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
        goto out_return;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
    }
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   350
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
    ecrt_master_callbacks(master, request_lock, release_lock, NULL);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   353
    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
   354
    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
   355
        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
   356
        goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   357
    }
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   358
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   359
    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
   360
                    master, AnaInSlavePos, Beckhoff_EL3152))) {
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   361
        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
   362
        goto out_release_master;
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   363
    }
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 909
diff changeset
   364
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   365
#if CONFIGURE_PDOS
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   366
    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
   367
    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   368
        printk(KERN_ERR PFX "Failed to configure Pdos.\n");
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   369
        goto out_release_master;
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   370
    }
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   371
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   372
    if (!(sc = ecrt_master_slave_config(
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   373
                    master, AnaOutSlavePos, Beckhoff_EL4102))) {
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   374
        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
   375
        goto out_release_master;
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   376
    }
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   377
c0e6adec1aee Added analog output to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1171
diff changeset
   378
    if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   379
        printk(KERN_ERR PFX "Failed to configure Pdos.\n");
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   380
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   381
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   382
1080
088a61306930 Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents: 1061
diff changeset
   383
    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
   384
                    master, DigOutSlavePos, Beckhoff_EL2004))) {
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   385
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   386
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   387
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   388
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1080
diff changeset
   389
    if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   390
        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
   391
        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
   392
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   393
#endif
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 654
diff changeset
   394
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   395
#if SDO_ACCESS
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   396
    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
   397
    if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   398
        printk(KERN_ERR PFX "Failed to create Sdo request.\n");
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   399
        goto out_release_master;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   400
    }
1026
021b8cdeb384 Minor changes to minimal example.
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   401
    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
   402
#endif
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   403
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   404
    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
   405
    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   406
        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
   407
        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
   408
    }
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   409
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   410
#if EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   411
    if ((size = ecrt_domain_size(domain1))) {
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   412
        if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   413
            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
   414
                    " memory!\n", size);
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   415
            goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   416
        }
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   417
        ecrt_domain_external_memory(domain1, domain1_pd);
809
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
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   420
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   421
    printk(KERN_INFO PFX "Activating master...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
    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
   423
        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
   424
#if EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   425
        goto out_free_process_data;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   426
#else
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   427
        goto out_release_master;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   428
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   429
    }
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   430
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   431
#if !EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   432
    // Get internal process data for domain
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   433
    domain1_pd = ecrt_domain_data(domain1);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   434
#endif
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   435
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   436
    printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
    init_timer(&timer);
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   438
    timer.function = cyclic_task;
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
    timer.expires = jiffies + 10;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
    add_timer(&timer);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   442
    printk(KERN_INFO PFX "Started.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
    return 0;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   445
#if EXTERNAL_MEMORY
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   446
out_free_process_data:
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   447
    kfree(domain1_pd);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   448
#endif
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   449
out_release_master:
654
8278e1e27010 Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   450
    printk(KERN_ERR PFX "Releasing master...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
    ecrt_release_master(master);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   452
out_return:
654
8278e1e27010 Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   453
    printk(KERN_ERR PFX "Failed to load. Aborting.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
    return -1;
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
void __exit cleanup_mini_module(void)
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
{
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   461
    printk(KERN_INFO PFX "Stopping...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   463
    del_timer_sync(&timer);
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   464
1171
de880622f253 Alternative Pdo assignment for el3162.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   465
#if EXTERNAL_MEMORY
820
f8e6f5966cce Cleaned up mini module.
Florian Pose <fp@igh-essen.com>
parents: 818
diff changeset
   466
    kfree(domain1_pd);
809
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
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   469
    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
   470
    ecrt_release_master(master);
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
654
8278e1e27010 Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   472
    printk(KERN_INFO PFX "Unloading.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
MODULE_LICENSE("GPL");
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   478
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   479
MODULE_DESCRIPTION("EtherCAT minimal test environment");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   481
module_init(init_mini_module);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
module_exit(cleanup_mini_module);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
/*****************************************************************************/