35 |
35 |
36 // Linux |
36 // Linux |
37 #include <linux/module.h> |
37 #include <linux/module.h> |
38 |
38 |
39 // RTAI |
39 // RTAI |
40 #include "rtai_sched.h" |
40 #include <rtai_sched.h> |
41 #include "rtai_sem.h" |
41 #include <rtai_sem.h> |
42 |
42 |
43 // EtherCAT |
43 // EtherCAT |
44 #include "../../include/ecrt.h" |
44 #include "../../include/ecrt.h" |
45 #include "../../include/ecdb.h" |
45 |
46 |
46 /*****************************************************************************/ |
47 /*****************************************************************************/ |
47 |
48 |
48 // Module parameters |
49 // RTAI task frequency in Hz |
49 |
50 #define FREQUENCY 2000 |
50 #define FREQUENCY 2000 // task frequency in Hz |
51 #define INHIBIT_TIME 20 |
51 #define INHIBIT_TIME 20 |
52 |
52 |
53 #define TIMERTICKS (1000000000 / FREQUENCY) |
53 #define TIMERTICKS (1000000000 / FREQUENCY) |
54 |
54 |
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55 // Optional features (comment to disable) |
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56 #define CONFIGURE_PDOS |
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57 |
55 #define PFX "ec_rtai_sample: " |
58 #define PFX "ec_rtai_sample: " |
56 |
59 |
57 /*****************************************************************************/ |
60 /*****************************************************************************/ |
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61 |
|
62 // EtherCAT |
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63 static ec_master_t *master = NULL; |
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64 static ec_master_state_t master_state = {}; |
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65 spinlock_t master_lock = SPIN_LOCK_UNLOCKED; |
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66 |
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67 static ec_domain_t *domain1 = NULL; |
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68 static ec_domain_state_t domain1_state = {}; |
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69 |
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70 static ec_slave_config_t *sc_ana_in = NULL; |
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71 static ec_slave_config_state_t sc_ana_in_state = {}; |
58 |
72 |
59 // RTAI |
73 // RTAI |
60 static RT_TASK task; |
74 static RT_TASK task; |
61 static SEM master_sem; |
75 static SEM master_sem; |
62 static cycles_t t_last_cycle = 0, t_critical; |
76 static cycles_t t_last_cycle = 0, t_critical; |
63 |
77 |
64 // EtherCAT |
78 /*****************************************************************************/ |
65 static ec_master_t *master = NULL; |
79 |
66 static ec_domain_t *domain1 = NULL; |
80 // process data |
67 static ec_master_status_t master_status, old_status = {}; |
81 static uint8_t *domain1_pd; // process data memory |
68 |
82 |
69 // data fields |
83 #define AnaInSlavePos 0, 1 |
70 static void *r_dig_out; |
84 #define DigOutSlavePos 0, 3 |
71 static void *r_ana_out; |
85 |
72 static void *r_count; |
86 #define Beckhoff_EL2004 0x00000002, 0x07D43052 |
73 //static void *r_freq; |
87 #define Beckhoff_EL3162 0x00000002, 0x0C5A3052 |
74 |
88 |
75 const static ec_pdo_reg_t domain1_pdo_regs[] = { |
89 static unsigned int off_ana_in; // offsets for Pdo entries |
76 {"2", Beckhoff_EL2004_Outputs, &r_dig_out}, |
90 static unsigned int off_dig_out; |
77 {"3", Beckhoff_EL4132_Output1, &r_ana_out}, |
91 |
78 {"#888:1", Beckhoff_EL5101_Value, &r_count}, |
92 const static ec_pdo_entry_reg_t domain1_regs[] = { |
79 //{"4", Beckhoff_EL5101_Frequency, &r_freq}, |
93 {AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in}, |
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94 {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, |
80 {} |
95 {} |
81 }; |
96 }; |
82 |
97 |
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98 static unsigned int counter = 0; |
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99 static unsigned int blink = 0; |
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100 |
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101 /*****************************************************************************/ |
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102 |
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103 #ifdef CONFIGURE_PDOS |
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104 static ec_pdo_entry_info_t el3162_channel1[] = { |
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105 {0x3101, 1, 8}, // status |
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106 {0x3101, 2, 16} // value |
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107 }; |
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108 |
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109 static ec_pdo_entry_info_t el3162_channel2[] = { |
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110 {0x3102, 1, 8}, // status |
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111 {0x3102, 2, 16} // value |
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112 }; |
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113 |
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114 static ec_pdo_info_t el3162_pdos[] = { |
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115 {0x1A00, 2, el3162_channel1}, |
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116 {0x1A01, 2, el3162_channel2} |
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117 }; |
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118 |
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119 static ec_sync_info_t el3162_syncs[] = { |
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120 {2, EC_DIR_OUTPUT}, |
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121 {3, EC_DIR_INPUT, 2, el3162_pdos}, |
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122 {0xff} |
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123 }; |
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124 |
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125 static ec_pdo_entry_info_t el2004_channels[] = { |
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126 {0x3001, 1, 1}, // Value 1 |
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127 {0x3001, 2, 1}, // Value 2 |
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128 {0x3001, 3, 1}, // Value 3 |
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129 {0x3001, 4, 1} // Value 4 |
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130 }; |
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131 |
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132 static ec_pdo_info_t el2004_pdos[] = { |
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133 {0x1600, 1, &el2004_channels[0]}, |
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134 {0x1601, 1, &el2004_channels[1]}, |
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135 {0x1602, 1, &el2004_channels[2]}, |
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136 {0x1603, 1, &el2004_channels[3]} |
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137 }; |
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138 |
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139 static ec_sync_info_t el2004_syncs[] = { |
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140 {0, EC_DIR_OUTPUT, 4, el2004_pdos}, |
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141 {1, EC_DIR_INPUT}, |
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142 {0xff} |
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143 }; |
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144 #endif |
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145 |
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146 /*****************************************************************************/ |
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147 |
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148 void check_domain1_state(void) |
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149 { |
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150 ec_domain_state_t ds; |
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151 |
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152 spin_lock(&master_lock); |
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153 ecrt_domain_state(domain1, &ds); |
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154 spin_unlock(&master_lock); |
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155 |
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156 if (ds.working_counter != domain1_state.working_counter) |
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157 printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter); |
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158 if (ds.wc_state != domain1_state.wc_state) |
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159 printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state); |
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160 |
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161 domain1_state = ds; |
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162 } |
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163 |
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164 /*****************************************************************************/ |
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165 |
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166 void check_master_state(void) |
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167 { |
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168 ec_master_state_t ms; |
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169 |
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170 spin_lock(&master_lock); |
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171 ecrt_master_state(master, &ms); |
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172 spin_unlock(&master_lock); |
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173 |
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174 if (ms.slaves_responding != master_state.slaves_responding) |
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175 printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding); |
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176 if (ms.al_states != master_state.al_states) |
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177 printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states); |
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178 if (ms.link_up != master_state.link_up) |
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179 printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down"); |
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180 |
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181 master_state = ms; |
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182 } |
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183 |
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184 /*****************************************************************************/ |
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185 |
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186 void check_slave_config_states(void) |
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187 { |
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188 ec_slave_config_state_t s; |
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189 |
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190 spin_lock(&master_lock); |
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191 ecrt_slave_config_state(sc_ana_in, &s); |
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192 spin_unlock(&master_lock); |
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193 |
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194 if (s.al_state != sc_ana_in_state.al_state) |
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195 printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state); |
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196 if (s.online != sc_ana_in_state.online) |
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197 printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline"); |
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198 if (s.operational != sc_ana_in_state.operational) |
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199 printk(KERN_INFO PFX "AnaIn: %soperational.\n", |
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200 s.operational ? "" : "Not "); |
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201 |
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202 sc_ana_in_state = s; |
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203 } |
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204 |
83 /*****************************************************************************/ |
205 /*****************************************************************************/ |
84 |
206 |
85 void run(long data) |
207 void run(long data) |
86 { |
208 { |
87 static unsigned int blink = 0; |
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88 static unsigned int counter = 0; |
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89 |
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90 while (1) { |
209 while (1) { |
91 t_last_cycle = get_cycles(); |
210 t_last_cycle = get_cycles(); |
92 |
211 |
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212 // receive process data |
93 rt_sem_wait(&master_sem); |
213 rt_sem_wait(&master_sem); |
94 ecrt_master_receive(master); |
214 ecrt_master_receive(master); |
95 ecrt_domain_process(domain1); |
215 ecrt_domain_process(domain1); |
96 rt_sem_signal(&master_sem); |
216 rt_sem_signal(&master_sem); |
97 |
217 |
98 // process data |
218 // check process data state (optional) |
99 EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00); |
219 check_domain1_state(); |
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220 |
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221 if (counter) { |
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222 counter--; |
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223 } else { // do this at 1 Hz |
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224 counter = FREQUENCY; |
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225 |
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226 // calculate new process data |
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227 blink = !blink; |
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228 |
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229 // check for master state (optional) |
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230 check_master_state(); |
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231 |
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232 // check for islave configuration state(s) (optional) |
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233 check_slave_config_states(); |
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234 } |
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235 |
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236 // write process data |
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237 EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); |
100 |
238 |
101 rt_sem_wait(&master_sem); |
239 rt_sem_wait(&master_sem); |
102 ecrt_domain_queue(domain1); |
240 ecrt_domain_queue(domain1); |
103 ecrt_master_send(master); |
241 ecrt_master_send(master); |
104 rt_sem_signal(&master_sem); |
242 rt_sem_signal(&master_sem); |
105 |
243 |
106 if (counter) { |
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107 counter--; |
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108 } |
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109 else { |
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110 counter = FREQUENCY; |
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111 blink = !blink; |
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112 |
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113 rt_sem_wait(&master_sem); |
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114 ecrt_master_get_status(master, &master_status); |
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115 rt_sem_signal(&master_sem); |
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116 |
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117 if (master_status.bus_status != old_status.bus_status) { |
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118 printk(KERN_INFO PFX "bus status changed to %i.\n", |
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119 master_status.bus_status); |
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120 } |
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121 if (master_status.bus_tainted != old_status.bus_tainted) { |
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122 printk(KERN_INFO PFX "tainted flag changed to %u.\n", |
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123 master_status.bus_tainted); |
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124 } |
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125 if (master_status.slaves_responding != |
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126 old_status.slaves_responding) { |
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127 printk(KERN_INFO PFX "slaves_responding changed to %u.\n", |
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128 master_status.slaves_responding); |
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129 } |
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130 |
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131 old_status = master_status; |
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132 } |
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133 |
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134 rt_task_wait_period(); |
244 rt_task_wait_period(); |
135 } |
245 } |
136 } |
246 } |
137 |
247 |
138 /*****************************************************************************/ |
248 /*****************************************************************************/ |
171 goto out_return; |
284 goto out_return; |
172 } |
285 } |
173 |
286 |
174 ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
287 ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
175 |
288 |
176 printk(KERN_INFO PFX "Creating domain...\n"); |
289 printk(KERN_INFO PFX "Registering domain...\n"); |
177 if (!(domain1 = ecrt_master_create_domain(master))) { |
290 if (!(domain1 = ecrt_master_create_domain(master))) { |
178 printk(KERN_ERR PFX "Domain creation failed!\n"); |
291 printk(KERN_ERR PFX "Domain creation failed!\n"); |
179 goto out_release_master; |
292 goto out_release_master; |
180 } |
293 } |
181 |
294 |
182 printk(KERN_INFO PFX "Registering Pdos...\n"); |
295 if (!(sc_ana_in = ecrt_master_slave_config( |
183 if (ecrt_domain_register_pdo_list(domain1, domain1_pdo_regs)) { |
296 master, AnaInSlavePos, Beckhoff_EL3162))) { |
184 printk(KERN_ERR PFX "Pdo registration failed!\n"); |
297 printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
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298 goto out_release_master; |
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299 } |
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300 |
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301 #ifdef CONFIGURE_PDOS |
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302 printk(KERN_INFO PFX "Configuring Pdos...\n"); |
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303 if (ecrt_slave_config_sync_managers(sc_ana_in, EC_END, el3162_syncs)) { |
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304 printk(KERN_ERR PFX "Failed to configure Pdos.\n"); |
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305 goto out_release_master; |
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306 } |
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307 |
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308 if (!(sc = ecrt_master_slave_config(master, DigOutSlavePos, Beckhoff_EL2004))) { |
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309 printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
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310 goto out_release_master; |
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311 } |
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312 |
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313 if (ecrt_slave_config_sync_managers(sc, EC_END, el2004_syncs)) { |
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314 printk(KERN_ERR PFX "Failed to configure Pdos.\n"); |
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315 goto out_release_master; |
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316 } |
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317 #endif |
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318 |
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319 printk(KERN_INFO PFX "Registering Pdo entries...\n"); |
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320 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
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321 printk(KERN_ERR PFX "Pdo entry registration failed!\n"); |
185 goto out_release_master; |
322 goto out_release_master; |
186 } |
323 } |
187 |
324 |
188 printk(KERN_INFO PFX "Activating master...\n"); |
325 printk(KERN_INFO PFX "Activating master...\n"); |
189 if (ecrt_master_activate(master)) { |
326 if (ecrt_master_activate(master)) { |
190 printk(KERN_ERR PFX "Failed to activate master!\n"); |
327 printk(KERN_ERR PFX "Failed to activate master!\n"); |
191 goto out_release_master; |
328 goto out_release_master; |
192 } |
329 } |
|
330 |
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331 // Get internal process data for domain |
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332 domain1_pd = ecrt_domain_data(domain1); |
193 |
333 |
194 printk(KERN_INFO PFX "Starting cyclic sample thread...\n"); |
334 printk(KERN_INFO PFX "Starting cyclic sample thread...\n"); |
195 requested_ticks = nano2count(TIMERTICKS); |
335 requested_ticks = nano2count(TIMERTICKS); |
196 tick_period = start_rt_timer(requested_ticks); |
336 tick_period = start_rt_timer(requested_ticks); |
197 printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n", |
337 printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n", |