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1 /****************************************************************************** |
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2 * |
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3 * Sample module for use with IgH MSR library. |
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4 * |
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5 * $Id$ |
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6 * |
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7 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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8 * |
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9 * This file is part of the IgH EtherCAT Master. |
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10 * |
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11 * The IgH EtherCAT Master is free software; you can redistribute it |
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12 * and/or modify it under the terms of the GNU General Public License |
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13 * as published by the Free Software Foundation; either version 2 of the |
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14 * License, or (at your option) any later version. |
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15 * |
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16 * The IgH EtherCAT Master is distributed in the hope that it will be |
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17 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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19 * GNU General Public License for more details. |
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20 * |
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21 * You should have received a copy of the GNU General Public License |
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22 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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23 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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24 * |
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25 * The right to use EtherCAT Technology is granted and comes free of |
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26 * charge under condition of compatibility of product made by |
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27 * Licensee. People intending to distribute/sell products based on the |
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28 * code, have to sign an agreement to guarantee that products using |
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29 * software based on IgH EtherCAT master stay compatible with the actual |
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30 * EtherCAT specification (which are released themselves as an open |
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31 * standard) as the (only) precondition to have the right to use EtherCAT |
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32 * Technology, IP and trade marks. |
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33 * |
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34 *****************************************************************************/ |
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35 |
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36 // Linux |
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37 #include <linux/module.h> |
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38 |
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39 // RTAI |
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40 #include "rtai_sched.h" |
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41 #include "rtai_sem.h" |
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42 |
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43 // RT_lib |
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44 #include <msr_main.h> |
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45 #include <msr_reg.h> |
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46 #include <msr_time.h> |
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47 #include "msr_param.h" |
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48 |
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49 // EtherCAT |
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50 #include "../../include/ecrt.h" |
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51 |
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52 #define ASYNC |
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53 |
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54 #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ) |
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55 #define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ) |
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56 |
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57 /*****************************************************************************/ |
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58 |
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59 // RTAI |
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60 RT_TASK task; |
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61 SEM master_sem; |
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62 cycles_t t_start = 0, t_critical; |
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63 |
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64 // EtherCAT |
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65 ec_master_t *master = NULL; |
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66 ec_domain_t *domain1 = NULL; |
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67 |
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68 // raw process data |
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69 void *r_ssi; |
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70 void *r_ssi_st; |
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71 |
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72 // Channels |
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73 uint32_t k_ssi; |
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74 uint32_t k_ssi_st; |
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75 |
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76 ec_field_init_t domain1_fields[] = { |
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77 {&r_ssi, "0:3", "Beckhoff", "EL5001", "InputValue", 0}, |
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78 {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status", 0}, |
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79 {} |
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80 }; |
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81 |
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82 /*****************************************************************************/ |
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83 |
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84 void msr_controller_run(void) |
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85 { |
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86 rt_sem_wait(&master_sem); |
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87 |
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88 #ifdef ASYNC |
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89 // Empfangen |
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90 ecrt_master_async_receive(master); |
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91 ecrt_domain_process(domain1); |
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92 #else |
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93 // Senden und empfangen |
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94 ecrt_domain_queue(domain1); |
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95 ecrt_master_run(master); |
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96 ecrt_master_sync_io(master); |
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97 ecrt_domain_process(domain1); |
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98 #endif |
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99 |
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100 // Prozessdaten verarbeiten |
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101 k_ssi = EC_READ_U32(r_ssi); |
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102 k_ssi_st = EC_READ_U8 (r_ssi_st); |
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103 |
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104 #ifdef ASYNC |
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105 // Senden |
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106 ecrt_domain_queue(domain1); |
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107 ecrt_master_run(master); |
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108 ecrt_master_async_send(master); |
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109 #endif |
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110 |
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111 rt_sem_signal(&master_sem); |
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112 |
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113 msr_write_kanal_list(); |
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114 } |
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115 |
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116 /*****************************************************************************/ |
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117 |
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118 void msr_run(long data) |
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119 { |
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120 while (1) { |
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121 t_start = get_cycles(); |
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122 MSR_RTAITHREAD_CODE(msr_controller_run();); |
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123 rt_task_wait_period(); |
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124 } |
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125 } |
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126 |
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127 /*****************************************************************************/ |
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128 |
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129 int msr_reg(void) |
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130 { |
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131 msr_reg_kanal("/ssi_position", "", &k_ssi, TUINT); |
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132 msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT); |
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133 return 0; |
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134 } |
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135 |
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136 /*****************************************************************************/ |
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137 |
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138 int request_lock(void *data) |
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139 { |
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140 // too close to the next RT cycle: deny access... |
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141 if (get_cycles() - t_start > t_critical) return -1; |
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142 |
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143 // allow access |
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144 rt_sem_wait(&master_sem); |
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145 return 0; |
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146 } |
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147 |
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148 /*****************************************************************************/ |
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149 |
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150 void release_lock(void *data) |
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151 { |
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152 rt_sem_signal(&master_sem); |
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153 } |
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154 |
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155 /*****************************************************************************/ |
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156 |
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157 int __init init_mod(void) |
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158 { |
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159 RTIME ticks; |
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160 #if 0 |
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161 ec_slave_t *slave; |
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162 #endif |
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163 |
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164 printk(KERN_INFO "=== Starting EtherCAT RTAI MSR sample module... ===\n"); |
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165 |
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166 rt_sem_init(&master_sem, 1); |
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167 t_critical = cpu_khz * 800 / MSR_ABTASTFREQUENZ; // ticks for 80% |
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168 |
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169 if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_reg) < 0) { |
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170 printk(KERN_ERR "Failed to initialize rtlib!\n"); |
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171 goto out_return; |
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172 } |
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173 |
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174 if ((master = ecrt_request_master(0)) == NULL) { |
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175 printk(KERN_ERR "Failed to request master 0!\n"); |
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176 goto out_msr_cleanup; |
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177 } |
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178 |
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179 ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
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180 |
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181 printk(KERN_INFO "Creating domains...\n"); |
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182 if (!(domain1 = ecrt_master_create_domain(master))) { |
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183 printk(KERN_ERR "Failed to create domains!\n"); |
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184 goto out_release_master; |
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185 } |
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186 |
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187 printk(KERN_INFO "Registering domain fields...\n"); |
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188 if (ecrt_domain_register_field_list(domain1, domain1_fields)) { |
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189 printk(KERN_ERR "Failed to register domain fields.\n"); |
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190 goto out_release_master; |
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191 } |
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192 |
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193 printk(KERN_INFO "Activating master...\n"); |
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194 if (ecrt_master_activate(master)) { |
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195 printk(KERN_ERR "Could not activate master!\n"); |
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196 goto out_release_master; |
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197 } |
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198 |
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199 #if 0 |
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200 if (ecrt_master_fetch_sdo_lists(master)) { |
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201 printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
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202 goto out_deactivate; |
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203 } |
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204 ecrt_master_print(master, 2); |
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205 #else |
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206 ecrt_master_print(master, 0); |
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207 #endif |
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208 |
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209 #if 0 |
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210 if (!(slave = ecrt_master_get_slave(master, "0:3"))) { |
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211 printk(KERN_ERR "Failed to get slave!\n"); |
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212 goto out_deactivate; |
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213 } |
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214 |
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215 if ( |
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216 ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 1) || // disable frame error bit |
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217 ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 0) || // power failure bit |
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218 ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || // inhibit time |
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219 ecrt_slave_sdo_write_exp8(slave, 0x4061, 4, 0) || // test mode |
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220 ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) || // graycode |
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221 ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 5) || // 125kbaud |
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222 ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || // single-turn |
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223 ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size |
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224 ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length |
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225 ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 50) // inhibit time in us |
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226 ) { |
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227 printk(KERN_ERR "Failed to configure SSI slave!\n"); |
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228 goto out_deactivate; |
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229 } |
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230 #endif |
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231 |
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232 #if 0 |
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233 if (!(slave = ecrt_master_get_slave(master, "1:0"))) { |
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234 printk(KERN_ERR "Failed to get slave!\n"); |
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235 goto out_deactivate; |
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236 } |
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237 if (ecrt_slave_write_alias(slave, 0x5678)) { |
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238 printk(KERN_ERR "Failed to write alias!\n"); |
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239 goto out_deactivate; |
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240 } |
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241 #endif |
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242 |
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243 #ifdef ASYNC |
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244 // Einmal senden und warten... |
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245 ecrt_master_prepare_async_io(master); |
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246 #endif |
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247 |
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248 if (ecrt_master_start_eoe(master)) { |
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249 printk(KERN_ERR "Failed to start EoE processing!\n"); |
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250 goto out_deactivate; |
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251 } |
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252 |
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253 printk("Starting cyclic sample thread...\n"); |
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254 ticks = start_rt_timer(nano2count(TIMERTICKS)); |
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255 if (rt_task_init(&task, msr_run, 0, 2000, 0, 1, NULL)) { |
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256 printk(KERN_ERR "Failed to init RTAI task!\n"); |
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257 goto out_stop_timer; |
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258 } |
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259 if (rt_task_make_periodic(&task, rt_get_time() + ticks, ticks)) { |
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260 printk(KERN_ERR "Failed to run RTAI task!\n"); |
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261 goto out_stop_task; |
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262 } |
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263 |
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264 printk(KERN_INFO "=== EtherCAT RTAI MSR sample module started. ===\n"); |
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265 return 0; |
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266 |
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267 out_stop_task: |
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268 rt_task_delete(&task); |
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269 out_stop_timer: |
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270 stop_rt_timer(); |
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271 out_deactivate: |
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272 ecrt_master_deactivate(master); |
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273 out_release_master: |
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274 ecrt_release_master(master); |
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275 out_msr_cleanup: |
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276 msr_rtlib_cleanup(); |
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277 out_return: |
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278 rt_sem_delete(&master_sem); |
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279 return -1; |
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280 } |
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281 |
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282 /*****************************************************************************/ |
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283 |
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284 void __exit cleanup_mod(void) |
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285 { |
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286 printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n"); |
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287 |
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288 rt_task_delete(&task); |
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289 stop_rt_timer(); |
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290 ecrt_master_deactivate(master); |
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291 ecrt_release_master(master); |
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292 rt_sem_delete(&master_sem); |
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293 msr_rtlib_cleanup(); |
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294 |
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295 printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n"); |
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296 } |
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297 |
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298 /*****************************************************************************/ |
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299 |
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300 MODULE_LICENSE("GPL"); |
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301 MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>"); |
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302 MODULE_DESCRIPTION ("EtherCAT RTAI MSR sample module"); |
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303 |
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304 module_init(init_mod); |
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305 module_exit(cleanup_mod); |
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306 |
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307 /*****************************************************************************/ |